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
aae4ed2553
AP_AHRS_NavEKF: accept external position estimates into AHRS
7 years ago
1dabcc473d
AP_AHRS: use ins singleton
7 years ago
024b29858d
AP_AHRS: use baro singleton
7 years ago
659ab06d3b
AP_AHRS: AP_AHRS gets a virtual get_hagl function, EKF marks it override
7 years ago
e15442355a
AP_AHRS: use GPS singleton
7 years ago
d89d496c8f
AP_AHRS: make getter const
7 years ago
0ccaa5bcba
AP_AHRS: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
7 years ago
5eeed442c8
AP_AHRS: correct comment
7 years ago
8a4ab685c7
AP_AHRS: implement get_hgt_ctrl_limit on base class
...
If no limits are required false can be returned, so an trivial
implementation is possible
7 years ago
82cd320bd0
AP_AHRS: add get_origin method to parent
7 years ago
e2a9d9c001
AP_AHRS: add static create method
7 years ago
40fd1b346c
global: remove rangefinder from AP_AHRS_NavEKF
...
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.
For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer. Ideally these
should be moved to an init() method though, or use a get_instance().
7 years ago
0af9433c8e
AP_AHRS: add set_origin
8 years ago
5c080ce875
AP_AHRS: calculation and reporting of AOA and SSA
8 years ago
90cd46f4d7
AP_AHRS: simulate body frame odometry sensor
8 years ago
3b82f60b08
AP_AHRS: add interface for use of visual odometry data
8 years ago
5758532326
AP_AHRS: make AHRS2 quaternion available
8 years ago
a11dca5229
AP_AHRS: added optional skip_ins_update to AHRS::update()
...
avoid the ins update if already done in copter fast_loop()
8 years ago
Harshit Kumar Sankhla
Randy Mackay
chobits
Andrew Tridgell
Paul Riseborough
Peter Barker
Peter Hall
hoangthien94
Michael du Breuil
Mark Whitehorn
Tom Pittenger
Pierre Kancir
khancyr
Lucas De Marchi
Eugene Shamaev
priseborough