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737 Commits

Author SHA1 Message Date
Randy Mackay
4a1247b9f7 AP_AHRS: add get_innovations 2019-10-18 11:15:25 +09:00
vierfuffzig
2af0be3947 AP_AHRS: fix custom orientation ToRad conversion 2019-10-01 09:35:09 +10:00
Randy Mackay
fb38db6640 AP_AHRS: resolve compile warning in AP_AHRS_DCM::use_compass 2019-09-05 08:39:10 +10:00
Peter Barker
98eca63201 AP_AHRS: var_info is now in GCS_MAVLINK_Parameters 2019-08-14 18:25:43 +10:00
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
c3bf090815 AP_AHRS: rangefinder no longer takes SerialManager in constructor 2019-07-16 09:29:48 +10:00
Randy Mackay
32e25d8b57 AP_AHRS: add accessor for roll, pitch and yaw 2019-07-12 13:57:28 +09:00
Andrew Tridgell
3dd7e7e83a AP_AHRS: only use enabled IMUs in DCM 
honor the INS_USE parameters for DCM
 2019-07-07 19:03:01 +10:00
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
Peter Barker
2bcaaf5aaf AP_AHRS: remove handling of beacon 2019-07-01 07:20:58 +09:00
Michael du Breuil
1226eb825a AP_AHRS: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
0a7cf77de4 AP_AHRS: Update function descriptions in header 2019-06-18 00:06:32 -07:00
Michael du Breuil
4aa33bec49 AP_AHRS: Remove AP_GPS.h from AP_AHRS.h 2019-06-18 10:02:05 +10:00
Jaaaky
fb311208ab AP_AHRS: Fix DCM gndVelADS on groundspeed_vector() with airspeed_use 2019-06-13 16:31:12 +10:00
Andrew Tridgell
99316a191c AP_AHRS: added check_lane_switch() 2019-06-12 09:52:20 +10:00
Peter Barker
697b8f6b53 AP_AHRS: take EAS2TAS directly from Baro (rather than via airspeed) 2019-06-06 12:44:36 +10:00
Francisco Ferreira
869a369cc0 AP_AHRS: support NMEA output 2019-05-21 09:41:15 +10:00
Andrew Tridgell
670015b30e AP_AHRS: added const for PersistentData 2019-05-15 15:33:48 +10:00
Andrew Tridgell
11ceacfdb6 AP_AHRS: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Andrew Tridgell
74e56ab8cc AP_AHRS: use new persistent_data interface 2019-05-15 15:33:48 +10:00
Peter Barker
0c24810a48 AP_AHRS: fix example 2019-05-07 13:52:40 +09:00
Pierre Kancir
ff5cedc49f AP_AHRS: add missing include 2019-05-01 14:17:34 -07:00
Andrew Tridgell
f7026b854e AP_AHRS: added save/restore of attitude in backup registers 2019-04-22 16:53:35 +10:00
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
Lucas De Marchi
e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
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().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi
91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Peter Barker
97b6ca218b AP_AHRS: send ekf status reports even when EKF inactive 2017-09-06 10:50:49 +10:00
chobits
d6845a911a AP_AHRS: fix get_relative_position_NE_home calcalation 2017-08-19 10:23:24 +09:00
Randy Mackay
1ddf38869a AP_AHRS: set AP_Notify gps_glitching flag 2017-07-27 14:16:23 +09:00
Peter Barker
3e0ed6deae AP_AHRS: Use GCS_Dummy GCS singleton 2017-07-07 16:18:37 +01:00
Peter Barker
12b4f2c4b6 AP_AHRS: correct example 2017-06-29 15:43:38 +01:00
priseborough
fa5534502a AP_AHRS: Update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
Andrew Tridgell
770f697cfc AP_AHRS: added set/get for flying state 
this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
 2017-06-20 09:44:44 +10:00
priseborough
a3483d0d34 AP_AHRS: Update for compatibility with EKF interface change 2017-06-14 12:44:41 +01:00
Randy Mackay
3e130273a9 AP_AHRS: do not fallback to DCM if EKF can provide relative position 2017-06-14 09:12:20 +09:00
Matt
6354ca7096 AP_AHRS: Set the new gps_fusion notify flag 
Uses EKF filter state to set the new gps_fusion notify flag. This allows
the GCS and notify devices to specifically be notified if the GPS is or
is not usable.
 2017-06-06 10:38:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
98a43cc4b5 AP_AHRS: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Andrew Tridgell
b6568b1c7e AP_AHRS: support set_origin and get_origin for EKF 10 2017-05-08 13:38:10 +10:00
Andrew Tridgell
d9223165c7 AP_AHRS: fixed get_accel_ef_blended() for SITL EKF 10 2017-05-07 09:10:44 +10:00
Andrew Tridgell
28030dd85c AP_AHRS: use SIM_ODOM_ENABLE to enable visual odom in SITL 2017-05-01 15:06:46 +10:00
Andrew Tridgell
e78f55ef9b AP_AHRS: change order of EK2/EK3 update 
if EK3 is our primary estimator when we want to run the EK3 update
first, so it gets time priority for inter-EKF scheduling.
 2017-05-01 14:24:55 +10:00
Randy Mackay
0af9433c8e AP_AHRS: add set_origin 2017-04-22 10:37:31 +09:00
Eugene Shamaev
5c080ce875 AP_AHRS: calculation and reporting of AOA and SSA 2017-04-19 20:48:42 +10:00