4000983884
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
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
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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
09dde518df
AP_AHRS: fixed dead-reckoning groundspeed vector
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this is essential for RTL in planes on GPS loss
6 years ago
4852562ec7
AP_AHRS: Suppress clearing non-trival type warning
6 years ago
e29dbbf158
AP_AHRS: notify and log home changes
6 years ago
de02cb9c8b
AP_AHRS: fixed synthetic airspeed to be along +ve X axis
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this prevents us from thinking we have +ve airspeed when flying
backwards with no pitot tube
7 years ago
9897bf6127
AP_AHRS: support locked access to AHRS data
7 years ago
5b0b9ef962
AP_AHRS: don't do yaw correction in DCM while calibrating compass
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this avoids applying bad compass yaw, and helps the compass
calibration code
7 years ago
3cbb88ae20
AP_AHRS: split home-set and home-locked state
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
2732226664
AP_AHRS: use direct assignation and correct some style
7 years ago
dae636b39e
AP_AHRS: correct some constcorrectness
7 years ago
1f9a3dd1bd
AP_AHRS: improved init attitdue in DCM
...
this tries harder to get a good IMU sample for the initial attitude
estimate. I have seen cases of bad IMU data on startup and this makes it
much less likely
7 years ago
fa5534502a
AP_AHRS: Update to match AP_GPS interface change
8 years ago
Andrew Tridgell
CallanDaniel
Peter Barker
Randy Mackay
Harshit Kumar Sankhla
Peter Hall
Michael du Breuil
Pierre Kancir
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas
khancyr
priseborough