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
d7e8ad1c13
AP_AHRS: add ARSPD_OPTION note to WIND_MAX
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
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
9d45669a58
AP_AHRS: reuse ins object for multiple calls, simplify delta_t variable
4 years ago
99e95666e8
AP_AHRS: remove unused AP_AHRS_TYPE define
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
3f69f97d60
AP_AHRS: added get_accel() for lua access
5 years ago
e55057ad5d
AP_AHRS_DCM: limit measured airspeed according to WIND_MAX
5 years ago
37340b846d
AP_AHRS: correct includes
5 years ago
4e12f16608
AP_AHRS: provide accessor for synthetic airspeed
5 years ago
ad435dcdbb
AP_AHRS: remove unused base-class airspeed_estimate method
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
f896213770
AP_AHRS: drop rotate prefix on 2D rotates
5 years ago
7d520c8307
AP_AHRS: added body/earth frame ops for Lua
5 years ago
cad9889656
AP_AHRS: send vision-speed-estimates to EKF3
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
471372cc7f
AP_AHRS: Write external nav data to EKF3
5 years ago
36fd632a49
AP_AHRS: create and use INTERNAL_ERROR macro so we get line numbers
5 years ago
8caf7d5811
AP_AHRS: add set_alt_measurement_noise
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These calls the EKF2 and EKF3's set_baro_alt_noise
5 years ago
2ae31f9d76
AP_AHRS: get_position obeys always_use_EKF
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Co-Authored-By: WickedShell <Wicked.Shell.Scripts@gmail.com>
5 years ago
585c806618
AP_AHRS: add get_primary_core_index
5 years ago
a66479104d
AP_AHRS: fix failure to arm when not using compass for yaw
5 years ago
22c2ea7cbf
AP_AHRS: Add accessor function for EKF yaw reset request
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AP_AHRS: Send yaw reset request to EKF2
5 years ago
9cf75bf22e
AP_AHRS: Enable EKF3 default airspeed to be set
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AP_AHRS: Send default airspeed to EKF2
5 years ago
79afc70cdb
AP_AHRS: remove writeExtNavData sensOffset argument
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EKF pulls this directly from AP_VisualOdom
5 years ago
5c399fce41
AP_AHRS: auto-switch to EK3/EK2 if selected option disabled
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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
83ad1c17a8
AP_AHRS: disable DCM yaw consistency check when using external yaw
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when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
5 years ago
b0b78e974b
AP_AHRS: add get_quaternion
5 years ago
e1c623183e
AP_AHRS: minor comment fix and move var_info lower
5 years ago
24bb4876a8
AP_AHRS: move is_ext_nav_used_for_yaw to parent
5 years ago
393a8785f3
AP_AHRS: implement get_vibration method on AHRS
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
3b95b5e692
AP_AHRS: make all semaphores recursive
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the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
5 years ago
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
5 years ago
775e4c90da
AP_AHRS: remove flying time and bool
5 years ago
Andrew Tridgell
Peter Barker
Iampete1
Randy Mackay
Harshit Kumar Sankhla
chobits
priseborough
Paul Riseborough
Peter Hall