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
b73131cdbc
AP_AHRS: review fixes
4 years ago
75ad1a7d31
AP_AHRS: send a text msg when active EKF changes
4 years ago
9dbd2d3eba
AP_AHRS: expose active EKF type for logging
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
0fca126d06
AP_AHRS: mark get_hagl as WARN_IF_UNUSED
4 years ago
0a80fce8b8
AP_AHRS: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
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
1bc82d3118
AP_AHRS: removed have_ekf_logging()
4 years ago
9b35bfba55
AP_AHRS: use enum class for takeoff/touchdown states
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
4 years ago
31fbb59384
AP_AHRS: delay EKF start until logging ready
...
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
6a72805f07
AP_AHRS: get_variances does not return offset
...
the offset is not a variance and is not actually used by any callers of this function
4 years ago
565b29a72c
AP_AHRS: remove FLAG_NONE; it's not a flag, it's a bitmask value
4 years ago
1ef92bb691
AP_AHRS: remove un-needed initialisations
4 years ago
1d97416a51
AP_AHRS: replace prearm_healthy with pre_arm_check
...
Also removes prearm_failure_reason
4 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
d0a2198e00
AP_AHRS: expose EKF setTerrainHgtStable accessor
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
8868ac2d6f
AP_AHRS: disable EKF2 by default on 1M boards
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
585c806618
AP_AHRS: add get_primary_core_index
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
b0b78e974b
AP_AHRS: add get_quaternion
5 years ago
24bb4876a8
AP_AHRS: move is_ext_nav_used_for_yaw to parent
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
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
99316a191c
AP_AHRS: added check_lane_switch()
6 years ago
334b1622e1
AP_AHRS: Allow checking all EKF cores for health
6 years ago
dd8bfb0ad4
AP_AHRS: attitudes_consistent: no euler angles
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
b202270d1a
AP_AHRS: minor format fixes
6 years ago
f1a023c872
AP_AHRS: add attitudes_consistent pre-arm check
6 years ago
c45b96fee9
AP_AHRS: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
6 years ago
306a40bb77
AP_AHRS: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
7 years ago
3cbb88ae20
AP_AHRS: split home-set and home-locked state
7 years ago
fdfa08c586
AP_AHRS: fix include order due to cyclic include
7 years ago
Randy Mackay
Andrew Tridgell
Paul Riseborough
Peter Barker
Harshit Kumar Sankhla
chobits
Paul Riseborough
Peter Hall
hoangthien94
Michael du Breuil
Mark Whitehorn
Tom Pittenger
Pierre Kancir