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Commit Graph

205 Commits

Author SHA1 Message Date
Peter Barker
583b25e6aa AP_AHRS: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker
14fce28e1b AP_AHRS: move EKF objects in; this requires unconsting some methods 2020-01-21 11:53:18 +11:00
Peter Hall
f6897632f8 AP_AHRS: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Peter Barker
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.
 2020-01-14 11:58:11 +11:00
Peter Barker
968d8cf7d9 AP_AHRS_NavEKF: canonicalise use of get_active_NavEKF result 
Some places had a default case, many didn't.
 2020-01-14 11:58:11 +11:00
Peter Barker
7a5b8136ad AP_AHRS_NavEKF: inform all running EKFs that takeoff or touchdown is expected 
Several other methods in here poke both EKFs like this.
 2020-01-07 11:06:36 +11:00
Peter Barker
d3ede184cf AP_AHRS: force the use of EKF for Copter and Sub 2019-12-02 09:16:22 +11:00
Randy Mackay
4a1247b9f7 AP_AHRS: add get_innovations 2019-10-18 11:15:25 +09:00
hoangthien94
916de076ec AP_AHRS: add method to check if ext nav is used for yaw 2019-08-03 08:44:11 +09:00
Peter Barker
9732940220 AP_AHRS: navekf: add Log_Write access point 2019-07-06 19:05:51 +10:00
Tom Pittenger
bf11746da5 AP_AHRS: allow EKF_TYPE==10 to send a good status report 
Some GUIs, including DroneKit, will consider GPS locations invalid if the EKF status is not good
 2019-07-03 21:22:09 +10:00
Michael du Breuil
1226eb825a AP_AHRS: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
4aa33bec49 AP_AHRS: Remove AP_GPS.h from AP_AHRS.h 2019-06-18 10:02:05 +10:00
Andrew Tridgell
99316a191c AP_AHRS: added check_lane_switch() 2019-06-12 09:52:20 +10:00
Francisco Ferreira
869a369cc0 AP_AHRS: support NMEA output 2019-05-21 09:41:15 +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
6da820ac7b AP_AHRS: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
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
Andrew Tridgell
2ffded4dd7 AP_AHRS: implement get_velocity_NED() for DCM 2019-03-19 14:39:04 +11:00
Mark Whitehorn
61a04bd898 AP_AHRS: fix bug in attitudes_consistent() 2019-03-19 10:19:47 +11:00
Mark Whitehorn
8c84fa5c64 AP_AHRS: apply AHRS trim in SITL 2019-03-12 10:52:55 +11:00
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
Randy Mackay
f1a023c872 AP_AHRS: add attitudes_consistent pre-arm check 2019-02-22 13:00:07 +09:00
Peter Barker
7406c5be37 AP_AHRS: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Michael du Breuil
c02863e001 AP_AHRS: Internalize EKF getLLH altitude management 2018-09-21 00:18:49 +01:00
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
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
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
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
aae4ed2553 AP_AHRS_NavEKF: accept external position estimates into AHRS 2018-03-27 20:28:00 +09:00
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
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
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