This is going to be used by vehicles that already have an object with
setup/loop functions. The vehicle object will just implement the
HAL::Callbacks interface.
Move the macros to a single place and reduce the variations not based on
board, but based on
- The name of the entry-point function, specified by AP_MAIN;
- Whether it contains argc/argv arguments or not.
The goal here is that programs (vehicles and examples) don't need to
include all possible boards to define a main function. Further patches
will change the programs.
Add run method, that encapsulate any mainloop logic on behalf of the
client code. The setup/loop functions are passed via a HAL::Callbacks
interface. The AP_HAL_MAIN() macro should be kept as trivial as
possible.
This interface should be implemented by the existing vehicle objects. To
make easy for the examples (that don't have the equivalent of vehicle
objects), a FunCallbacks was added to bridge to the functions directly.
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
The legacy EKF switches GPs aiding on on arming, whereas the new EKF switches it on based on GPS data quality.
This means the decision to arm and therefore the predicted solution flags must now reflect the actual status of the navigation solution as it will no longer change when motor arming occurs.
If high vibration levels cause offsets between the two, it switches to the accelerometer with lower vibration levels. The default behaviour is to use the average of both accelerometers.
Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
