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663 Commits

Author SHA1 Message Date
Andrew Tridgell b8605c9ee6 AP_AHRS: save/restore home to backup registers 
restore on watchdog reset

# Conflicts:
#	libraries/AP_AHRS/AP_AHRS_DCM.cpp
 2019-04-22 16:53:35 +10:00
Andrew Tridgell 5e1f9068a1 AP_AHRS: ensure AHRS never uses an unhealthy gyro 2019-04-22 14:56:25 +10:00
Pierre Kancir 0b16d7576f AP_AHRS: use get_distance_NED 2019-04-09 20:59:48 +10:00
Michael du Breuil 334b1622e1 AP_AHRS: Allow checking all EKF cores for health 2019-04-09 10:53:25 +10:00
Pierre Kancir 54bc960ca3 AP_AHRS: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Pierre Kancir 6da820ac7b AP_AHRS: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Michael du Breuil 02b4379b6c AP_AHRS: Fix example rangefinder init 2019-04-06 09:15:22 +11:00
Pierre Kancir 701c5dd4c0 AP_AHRS: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Mark Whitehorn dd8bfb0ad4 AP_AHRS: attitudes_consistent: no euler angles 2019-04-04 11:26:46 +11:00
Mark Whitehorn b32ccbfb33 AP_AHRS: fix attitudes_consistent bug 2019-03-29 10:58:00 +11:00
Tom Pittenger a577223ac6 AP_AHRS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Mark Whitehorn da1e5bc61f AP_AHRS: refactor View 
* AP_AHRS: refactor View
 2019-03-26 10:41:55 +11:00
IamPete1 d78275c0a3 AP_AHRS: rotate if none zero pitch trim 2019-03-26 10:41:55 +11:00
Andrew Tridgell 2ffded4dd7 AP_AHRS: implement get_velocity_NED() for DCM 2019-03-19 14:39:04 +11:00
Andrew Tridgell 6622a4579e AP_AHRS: fixed warning on WARN_IF_UNUSED 2019-03-19 12:10:07 +11:00
Michael du Breuil 2ed1757353 AP_AHRS: Remove unused uptime 2019-03-19 11:42:54 +11:00
Michael du Breuil 94a1835a9b AP_AHRS: Tag most of AHRS_VIEW as WARN_IF_UNUSED 2019-03-19 11:42:54 +11:00
Michael du Breuil c7c8c2a7c5 AP_AHRS: Tag a lot of the accessors as WARN_IF_UNUSED 2019-03-19 11:42:54 +11:00
Mark Whitehorn e71eae7d3b AP_AHRS: add new method get_quat_body_to_ned() 2019-03-19 10:46:25 +11:00
Peter Barker 3889c91974 AP_AHRS: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Mark Whitehorn 61a04bd898 AP_AHRS: fix bug in attitudes_consistent() 2019-03-19 10:19:47 +11:00
Peter Barker 4fa04e730b AP_AHRS: examples: compass init never fails 2019-03-13 13:06:50 +11:00
Mark Whitehorn 8c84fa5c64 AP_AHRS: apply AHRS trim in SITL 2019-03-12 10:52:55 +11:00
Michael du Breuil 0bf2fc004e AP_AHRS: Warn if the return value on (get, set)_origin is not checked 2019-03-12 08:27:42 +09:00
Randy Mackay ba02894734 AP_AHRS: attitude pre-arm check skips yaw if no compass 
Also provides better feedback on the axis and angular difference
 2019-03-07 09:34:39 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 44ab1cf14b AP_AHRS: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Peter Barker 6fd687e861 AP_AHRS: retry sending home/origin if it fails 2019-02-26 14:01:41 +11:00
Peter Barker 3959780999 AP_AHRS: ensure home is always stored in ALT_FRAME_ABSOLUTE 2019-02-26 10:35:39 +11:00
Peter Barker 63e894e7e1 AP_AHRS: rename set_orientation to update_orientation 
set_ should be reserved for setters
 2019-02-26 10:28:09 +11:00
Randy Mackay b202270d1a AP_AHRS: minor format fixes 2019-02-22 13:00:07 +09:00
Randy Mackay f1a023c872 AP_AHRS: add attitudes_consistent pre-arm check 2019-02-22 13:00:07 +09:00
Tom Pittenger c45b96fee9 AP_AHRS: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:06 -08:00
Peter Barker ab9c084179 AP_AHRS: add sanity checks for home location being set 2019-02-15 08:28:45 +11:00
Peter Barker 2e403bfd52 AP_AHRS: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Mark Whitehorn 0e2e077d96 AP_AHRS: add method to set pitch trim 2019-02-12 09:42:19 +11:00
Tom Pittenger c10fd9cafb AP_AHRS: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
ChrisBird 532431c284 AP_AHRS: Added get_max_wind to make it available for use in determining if the airspeed sensor is faulty. 2019-02-03 08:25:46 -08:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 7406c5be37 AP_AHRS: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker b416bc603e AP_AHRS_DCM: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Pierre Kancir 3b96794fb5 AP_AHRS: remove useless virtual qualifier 2018-12-22 08:31:32 +09:00
Pierre Kancir d87853d93e AP_AHRS: pass vector by const reference 2018-12-22 08:31:32 +09:00
Andrew Tridgell 09dde518df AP_AHRS: fixed dead-reckoning groundspeed vector 
this is essential for RTL in planes on GPS loss
 2018-11-19 07:32:20 +11:00
Andrew Tridgell 33b26da2eb AP_AHRS: small cleanups 
always pass the pitch trim, and removed unusued variables
 2018-11-12 17:05:04 +11:00
IamPete1 e1cdf9fe0a AP_AHRS: add trimed view 2018-11-12 17:05:04 +11:00
Michael du Breuil 4852562ec7 AP_AHRS: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Peter Barker e29dbbf158 AP_AHRS: notify and log home changes 2018-10-16 10:55:13 +11:00
Michael du Breuil c02863e001 AP_AHRS: Internalize EKF getLLH altitude management 2018-09-21 00:18:49 +01:00
Andrew Tridgell de02cb9c8b AP_AHRS: fixed synthetic airspeed to be along +ve X axis 
this prevents us from thinking we have +ve airspeed when flying
backwards with no pitot tube
 2018-09-14 19:28:29 +10:00
Peter Barker 306a40bb77 AP_AHRS: fix writeOptFlowMeas signature 
const some of the vectors, stop taking references to scalars that aren't
being changed
 2018-09-11 09:03:22 +10:00
Andrew Tridgell 9897bf6127 AP_AHRS: support locked access to AHRS data 2018-08-25 15:44:36 +10:00
Andrew Tridgell 9a6113e5d8 AP_AHRS: fixed tailsitters in RealFlight 
we need to use the rotated accel for the earth-frame accel
 2018-07-20 14:21:06 +10:00
Andrew Tridgell 1056e64419 AP_AHRS: added get_DCM_rotation_body_to_ned() 
this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
 2018-07-18 16:07:19 +10:00
Andrew Tridgell 5b0b9ef962 AP_AHRS: don't do yaw correction in DCM while calibrating compass 
this avoids applying bad compass yaw, and helps the compass
calibration code
 2018-07-18 16:07:19 +10:00
Michael du Breuil 65df5c3ff6 AP_AHRS: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell 63d385ffb1 AP_AHRS: fixed arming with no compass in plane 
allow arming if the GPS quality is good, the yaw alignment and
position will fix itself once the vehicle starts moving
 2018-07-14 17:49:52 +10:00
Patrick José Pereira 819f08b7f7 AP_AHRS: Use SITL singleton 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-26 00:02:01 +01:00
Andrew Tridgell 520e33261a AP_AHRS: fixed EKF type 10 for SITL 
this fixes the use of EKF type 10 in SITL, preventing it from using
the DCM attitude estimate.

This is especially important for RealFlight and XPlane
 2018-06-07 11:22:57 +10:00
Peter Barker 4d944da530 AP_AHRS: add a singleton-getter cast into AP_AHRS_NavEKF 
This will allow libraries which absolutely require the EKF to easily get
a cast copy of the singleton.
 2018-06-01 16:12:45 +01:00
Peter Barker 3cbb88ae20 AP_AHRS: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker 9793703a76 AP_AHRS: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Andrew Tridgell 5ae410f7ca AP_AHRS: called boost_end() on AHRS update 2018-05-05 07:45:53 +10:00
Andrew Tridgell 0b03562cf2 AP_AHRS: fix for mavlink update 2018-04-30 15:39:43 +10:00
Jacob Walser 74be9f0bda AP_AHRS: Add support for custom board orientations 2018-04-24 13:04:37 +01:00
Jacob Walser b820da5c6f AP_AHRS: update AHRS_ORIENTATION metadata 2018-04-24 13:04:37 +01:00
Pierre Kancir fdfa08c586 AP_AHRS: fix include order due to cyclic include 2018-04-17 17:21:35 +09:00
Peter Barker 355752ebb8 AP_AHRS: remove pointless initialisations 
These are either in bss or new'd.

Saves ~130 bytes
 2018-04-04 10:14:40 +01:00
Peter Barker 2a274675f6 AP_AHRS: narrow enumeration to uint8_t to avoid narrowing-warnings 2018-04-02 14:12:09 +09:00
Peter Barker aae4ed2553 AP_AHRS_NavEKF: accept external position estimates into AHRS 2018-03-27 20:28:00 +09:00
Peter Barker 20412dc0db AP_AHRS: accept external position estimates into AHRS 2018-03-27 20:27:59 +09:00
Peter Barker 3a5807ae56 AP_AHRS: move home_status into AP_AHRS 
Storing home in the AHRS object but not its state is clearly evil.

Fix that.
 2018-03-19 10:32:37 +09:00
Lucas De Marchi 517f71c183 AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 1dabcc473d AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 024b29858d AP_AHRS: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 659ab06d3b AP_AHRS: AP_AHRS gets a virtual get_hagl function, EKF marks it override 2018-03-07 12:34:39 +00:00
Peter Barker dc30197ca7 AP_AHRS: add AP::ahrs() singleton 2018-03-07 12:34:39 +00:00
Andrew Tridgell 504e231ba2 AP_AHRS: reverted UAVCAN PR 7827 2018-03-05 14:16:54 +11:00
DOMINATOR\Eugene 2f7196d71f AP_AHRS: UAVCAN publishing of attitude and location 2018-03-03 12:59:14 +12:00
Andrew Tridgell 55358459c7 AP_AHRS: fixed AP_MODULE_SUPPORTED 2018-02-10 10:50:22 +11:00
Andrew Tridgell 0b5e3936fe AP_AHRS: added earth to body 2D rotations 2018-02-08 17:36:33 +11:00
Andrew Tridgell e2d91535d0 AP_AHRS: fill in have_pos_abs 2018-02-08 17:36:33 +11:00
Peter Barker e15442355a AP_AHRS: use GPS singleton 2017-12-27 00:58:02 +00:00
khancyr 2732226664 AP_AHRS: use direct assignation and correct some style 2017-12-18 22:43:59 +00:00
khancyr dae636b39e AP_AHRS: correct some constcorrectness 2017-12-18 22:43:59 +00:00
khancyr d89d496c8f AP_AHRS: make getter const 2017-12-18 22:43:59 +00:00
Andrew Tridgell 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
 2017-12-14 08:12:28 +11:00
Andrew Tridgell 7a6ab4ac44 AP_AHRS: fixed a bug with startup ordering of SITL 
this fixes a crash that can happen with SITL
 2017-12-13 14:09:39 +11:00
Peter Barker 5eeed442c8 AP_AHRS: correct comment 2017-12-13 10:04:50 +09:00
Andrew Tridgell 1f9a3dd1bd AP_AHRS: improved init attitdue in DCM 
this tries harder to get a good IMU sample for the initial attitude
estimate. I have seen cases of bad IMU data on startup and this makes it
much less likely
 2017-12-12 11:39:38 +11:00
Peter Barker 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
 2017-12-08 11:27:37 +09:00
Peter Barker 89e12163cd AP_AHRS: correct comment 2017-12-08 11:27:37 +09:00
Randy Mackay 82cd320bd0 AP_AHRS: add get_origin method to parent 2017-12-01 09:28:56 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 0ecb14361d AP_AHRS: NFC spell in comments 2017-11-27 23:13:34 +09:00
Samuel Tabor 05492be269 AP_AHRS: clarify scope of AHRS_GPS_USE parameter 2017-11-20 13:53:36 +09:00
Lucas De Marchi bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi cd1ff7b86f AP_AHRS: DCM: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi e2a9d9c001 AP_AHRS: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00