349a035702
AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity (for 4.1)
...
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
3 years ago
52d58f0670
AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX
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fixes regression from d1d790019c
3 years ago
4000983884
AP_AHRS: allow for fallback to DCM in quadplanes
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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
3 years ago
c1f72d6683
AP_AHRS: build fix
4 years ago
6907fa8e88
AP_AHRS: Add accessor function for vibration affected status
...
AP_AHRS: fix rebase build error
4 years ago
ee0a373b60
AP_AHRS: remove HIL support
4 years ago
ab5d4da776
AP_AHRS: attitudes_consistent fix for roll-pitch difference calc
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previously yaw difference would appear as roll, pitch differrences
4 years ago
9eeec61cec
AP_AHRS: new APIs for takeoff/touchdown expected
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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
1a3258a039
AP_AHRS: Fall back to DCM airspeed estimate if EKF velocity not available
4 years ago
ec401083bf
AP_AHRS: Remove unused variable
4 years ago
af2bf6097b
AP_AHRS: Add accessor function for EKF3 yaw alignment status
4 years ago
a0faa55ef5
AP_AHRS: Fix rebase build error
4 years ago
6d6ec44d59
AP_AHRS: fixed build on boards without EKF2
4 years ago
d1d790019c
AP_AHRS: Improve use of estimated airspeed
...
Enable default airspeed variance to be specified externally to the EKF
Enable use of EKF airspeed estimates
4 years ago
62932f884f
AP_AHRS: pre_arm_check may skip position checks
4 years ago
0cc9fd2b5d
AP_AHRS_NavEKF: get_secondary_quat and position may return EKF3 value
4 years ago
9099a9b622
AP_AHRS: correct names for active EKF type
4 years ago
b73131cdbc
AP_AHRS: review fixes
4 years ago
4e33b74d69
AP_AHRS: call external AHRS update
4 years ago
b5b9b57c9e
AP_AHRS: added external AHRS mavlink status
4 years ago
75ad1a7d31
AP_AHRS: send a text msg when active EKF changes
4 years ago
e284c5694d
AP_AHRS: added AHRS_EKF_TYPE=11 for external AHRS
4 years ago
3a0105fcc3
AP_AHRS: Add accessor function for body frame airspeed vector
4 years ago
ca41a19072
AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend"
4 years ago
55cb3e8ef0
AP_AHRS: get airspeed sensor from singleton not AHRS object
4 years ago
0a80fce8b8
AP_AHRS: removed inhibitGps and inhibitGpsVertVel options
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these were unused
4 years ago
8c2688605e
AP_AHRS: active_EKF_type fallback to DCM checks if GPS configured for use
4 years ago
4b542aa714
AP_AHRS: add get_vel_innovations_and_variances_for_source
4 years ago
dc5d1d099b
AP_AHRS: add set_posvelyaw_source_set
4 years ago
cb830dcc11
AP_AHRS: added comment from review
4 years ago
1bc82d3118
AP_AHRS: removed have_ekf_logging()
4 years ago
9b35bfba55
AP_AHRS: use enum class for takeoff/touchdown states
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Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
31fbb59384
AP_AHRS: delay EKF start until logging ready
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for replay to work reliably we need all the parameters output before
we init the EKF.
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
814aa4e5ec
AP_AHRS: take secondary attitude from EKF3 if it is configured
4 years ago
6a72805f07
AP_AHRS: get_variances does not return offset
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the offset is not a variance and is not actually used by any callers of this function
4 years ago
d4cb14b262
AP_AHRS: remove magic resetting of EKF type 1 to 2
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If EKF2 is not compiled in the current compatability code will not work
so well.
Throw the user over to the config error loop and they can fix it there.
4 years ago
1d97416a51
AP_AHRS: replace prearm_healthy with pre_arm_check
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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
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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
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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
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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
Andrew Tridgell
Peter Barker
Paul Riseborough
Randy Mackay
murata
Harshit Kumar Sankhla