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803 Commits

Author SHA1 Message Date
Peter Barker
a4d98a457b AP_AHRS: move init of dcm state into variable declarations 2021-07-23 09:55:14 +10:00
Peter Barker
4f9201a160 AP_AHRS: move parameters back into AP_AHRS.h 
metadata collection kind of dies otherwise
 2021-07-22 21:21:40 +10:00
Peter Barker
d351b7c7dc AP_AHRS: fix includes for moved files 2021-07-22 21:21:40 +10:00
Peter Barker
b7d4166b28 AP_AHRS: rename AP_AHRS_NavEKF.* to AP_AHRS.* 2021-07-22 21:21:40 +10:00
Peter Barker
97b394a5ef AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.* 2021-07-22 21:21:40 +10:00
Paul Riseborough
8f1b98a0cb AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-22 18:20:45 +10:00
Peter Barker
a6a18fe193 AP_AHRS: punt to correct parent class when no index for getCorrectedDeltaVelocityNED 2021-07-21 21:01:39 +10:00
Peter Barker
b450a96698 AP_AHRS: shuffle AP_AHRS classes 2021-07-21 21:01:39 +10:00
Peter Barker
0d391533b0 AP_AHRS: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
141e2aae91 AP_AHRS: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Peter Barker
a92fc7845c AP_AHRS: remove unused active_accel_instance 
Not a great member function as only DCM updates this
 2021-07-20 20:37:40 +10:00
Peter Barker
b185d84dc5 AP_AHRS: remove unused _gps_delay variable 2021-07-20 15:24:45 +09:00
Peter Barker
dc5656d34a AP_AHRS: remove accessors only used internally 2021-07-20 12:38:57 +10:00
CallanDaniel
396a27b17e AP_AHRS: add semaphore around set_origin 
added semaphore around set_origin() to prevent thread racing
 2021-07-08 11:54:37 +09:00
Andrew Tridgell
cd3ac639fe AP_AHRS: added AHRS_GPS_USE=2 for no baro 
this allows DCM to use the GPS instead of the baro for height
 2021-07-08 07:56:51 +10:00
CallanDaniel
76f5db93dc AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-06-23 10:11:02 +09:00
Peter Barker
ee0a373b60 AP_AHRS: remove HIL support 2021-06-15 09:47:31 +10:00
Pierre Kancir
d2278fb525 AP_AHRS: NavEKF: make set_origin and get_origin WARN_IF_UNUSED as base class 2021-06-12 00:01:23 +10:00
Randy Mackay
ab5d4da776 AP_AHRS: attitudes_consistent fix for roll-pitch difference calc 
previously yaw difference would appear as roll, pitch differrences
 2021-06-08 12:55:17 +09:00
Peter Barker
9eeec61cec AP_AHRS: new APIs for takeoff/touchdown expected 
timeout handling now in AP_AHRS, and state stored in AHRS and
requested by AP_DAL
 2021-06-02 11:13:16 +09:00
Peter Barker
e141578376 AP_AHRS: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Peter Barker
28bbe4b776 AP_AHRS: remove unused AP_Beacon.h include 2021-05-30 10:44:42 +10:00
Leonard Hall
bddf6602f0 AP_AHRS: PosControl fixes 2021-05-24 20:13:37 +10:00
murata
fcba2a6e69 AP_AHRS: Remove unused methods 2021-05-18 10:06:53 +10:00
Peter Barker
52a4ac028c AP_AHRS: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00
Hwurzburg
cf41548ce1 AP_AHRS: expand RATE log message description 2021-04-27 12:32:44 +10:00
Peter Barker
ea1884f491 AP_AHRS: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Paul Riseborough
9b53d505ea AP_AHRS: Handle airspeed estimation with have_inertial_nav() == false 2021-03-05 12:10:01 +11:00
Paul Riseborough
aa49e92edc AP_AHRS: Remove unused AP_AHRS_NavEKF::yaw_alignment_complete API 2021-03-05 12:10:01 +11:00
Paul Riseborough
1a3258a039 AP_AHRS: Fall back to DCM airspeed estimate if EKF velocity not available 2021-03-05 12:10:01 +11:00
Paul Riseborough
ec401083bf AP_AHRS: Remove unused variable 2021-03-05 12:10:01 +11:00
Paul Riseborough
af2bf6097b AP_AHRS: Add accessor function for EKF3 yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough
a0faa55ef5 AP_AHRS: Fix rebase build error 2021-03-05 12:10:01 +11:00
Andrew Tridgell
6d6ec44d59 AP_AHRS: fixed build on boards without EKF2 2021-03-05 12:10:01 +11:00
Paul Riseborough
d1d790019c AP_AHRS: Improve use of estimated airspeed 
Enable default airspeed variance to be specified externally to the EKF
Enable use of EKF airspeed estimates
 2021-03-05 12:10:01 +11:00
Pierre Kancir
77367c1376 AP_AHRS: fix example 2021-03-03 18:07:38 +11:00
Randy Mackay
62932f884f AP_AHRS: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Peter Barker
358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker
60d0b0f07c AP_AHRS: add WARN_IF_UNUSED to some getters 2021-01-21 20:41:17 +11:00
Andrew Tridgell
1ce77111e5 AP_AHRS: allow override of default EKF type 2021-01-20 10:06:45 +11:00
Randy Mackay
0cc9fd2b5d AP_AHRS_NavEKF: get_secondary_quat and position may return EKF3 value 2021-01-16 08:24:23 +09:00
Randy Mackay
1b3ad9cd8d AP_AHRS: use ekf3 by default 2021-01-16 08:24:23 +09:00
Peter Barker
9099a9b622 AP_AHRS: correct names for active EKF type 2021-01-12 10:23:08 +11:00
Josh Henderson
62ff9a4d4b AP_AHRS: move logging functions to AHRS 2021-01-12 10:13:22 +11:00
Andrew Tridgell
b73131cdbc AP_AHRS: review fixes 2021-01-05 21:13:12 +11:00
Andrew Tridgell
4e33b74d69 AP_AHRS: call external AHRS update 2021-01-05 21:13:12 +11:00
Andrew Tridgell
b5b9b57c9e AP_AHRS: added external AHRS mavlink status 2021-01-05 21:13:12 +11:00
Andrew Tridgell
75ad1a7d31 AP_AHRS: send a text msg when active EKF changes 2021-01-05 21:13:12 +11:00
Andrew Tridgell
9dbd2d3eba AP_AHRS: expose active EKF type for logging 2021-01-05 21:13:12 +11:00
Andrew Tridgell
e284c5694d AP_AHRS: added AHRS_EKF_TYPE=11 for external AHRS 2021-01-05 21:13:12 +11:00
Paul Riseborough
3a0105fcc3 AP_AHRS: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Peter Barker
ca41a19072 AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend" 2020-12-11 09:55:40 +11:00
Peter Barker
55cb3e8ef0 AP_AHRS: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker
0fca126d06 AP_AHRS: mark get_hagl as WARN_IF_UNUSED 2020-12-07 12:10:33 +11:00
Andrew Tridgell
0a80fce8b8 AP_AHRS: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Randy Mackay
8c2688605e AP_AHRS: active_EKF_type fallback to DCM checks if GPS configured for use 2020-11-25 21:00:07 +11:00
Randy Mackay
4b542aa714 AP_AHRS: add get_vel_innovations_and_variances_for_source 2020-11-20 16:43:44 +09:00
Randy Mackay
dc5d1d099b AP_AHRS: add set_posvelyaw_source_set 2020-11-20 16:43:44 +09:00
Andrew Tridgell
cb830dcc11 AP_AHRS: added comment from review 2020-11-10 16:15:45 +11:00
Andrew Tridgell
dab091a801 AP_AHRS: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bc82d3118 AP_AHRS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b35bfba55 AP_AHRS: use enum class for takeoff/touchdown states 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31fbb59384 AP_AHRS: delay EKF start until logging ready 
for replay to work reliably we need all the parameters output before
we init the EKF.

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Peter Barker
814aa4e5ec AP_AHRS: take secondary attitude from EKF3 if it is configured 2020-11-10 10:59:08 +11:00
Iampete1
d7e8ad1c13 AP_AHRS: add ARSPD_OPTION note to WIND_MAX 2020-10-27 11:21:04 +11:00
Randy Mackay
6a72805f07 AP_AHRS: get_variances does not return offset 
the offset is not a variance and is not actually used by any callers of this function
 2020-10-21 08:58:45 +09:00
Peter Barker
d4cb14b262 AP_AHRS: remove magic resetting of EKF type 1 to 2 
If EKF2 is not compiled in the current compatability code will not work
so well.

Throw the user over to the config error loop and they can fix it there.
 2020-10-20 11:32:57 +11:00
Peter Barker
565b29a72c AP_AHRS: remove FLAG_NONE; it's not a flag, it's a bitmask value 2020-10-20 11:24:34 +11:00
Peter Barker
1ef92bb691 AP_AHRS: remove un-needed initialisations 2020-10-20 11:24:34 +11:00
Peter Barker
9d45669a58 AP_AHRS: reuse ins object for multiple calls, simplify delta_t variable 2020-10-20 11:24:34 +11:00
Peter Barker
99e95666e8 AP_AHRS: remove unused AP_AHRS_TYPE define 2020-10-18 09:41:29 +11:00
Randy Mackay
1d97416a51 AP_AHRS: replace prearm_healthy with pre_arm_check 
Also removes prearm_failure_reason
 2020-10-07 11:53:07 +11:00
Andrew Tridgell
a4e7c72635 AP_AHRS: removed duplicate implementation of airspeed_estimate() 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla
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.
 2020-08-27 20:20:51 +10:00
Andrew Tridgell
e5e092d077 AP_AHRS: check EKF status for having horizontal position estimate 
this will allow a fixed wing to fall back to DCM if the EKF stops
providing an absolute position while we have 3D GPS lock. The
using_gps flag is not enough, as lagged GPS data can lead to the EKF
stopping fusing when the data is behind the fusion time horizon. In
that case EKF3 gives using_gps=1 but sets horiz_pos_abs=0
 2020-08-25 10:22:05 +10:00
Andrew Tridgell
3f69f97d60 AP_AHRS: added get_accel() for lua access 2020-08-16 08:55:27 -07:00
Peter Barker
e55057ad5d AP_AHRS_DCM: limit measured airspeed according to WIND_MAX 2020-08-15 18:14:05 +10:00
Peter Barker
37340b846d AP_AHRS: correct includes 2020-08-07 19:20:07 +10:00
Peter Barker
4e12f16608 AP_AHRS: provide accessor for synthetic airspeed 2020-08-04 23:12:03 +10:00
Peter Barker
ad435dcdbb AP_AHRS: remove unused base-class airspeed_estimate method 2020-08-04 10:08:22 +10:00
Andrew Tridgell
d0d7a46492 AP_AHRS: fixed SITL origin handling 
we need to keep origin and home separate for AHRS_EKF_TYPE=10. This
caused issues with resets in RealFlight leading to the plane not
descending
 2020-07-10 10:08:51 +09:00
Randy Mackay
d0a2198e00 AP_AHRS: expose EKF setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Randy Mackay
839e03f3e4 AP_AHRS: attitudes_consistent obeys always_use_EKF 2020-06-16 11:29:24 +10:00
Peter Barker
8c0aed9c6c AP_AHRS: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Andrew Tridgell
f896213770 AP_AHRS: drop rotate prefix on 2D rotates 2020-06-04 09:49:52 +10:00
Andrew Tridgell
7d520c8307 AP_AHRS: added body/earth frame ops for Lua 2020-06-04 09:49:52 +10:00
Randy Mackay
cad9889656 AP_AHRS: send vision-speed-estimates to EKF3 2020-06-02 08:33:42 +09:00
chobits
c9e363d529 AP_AHRS: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Randy Mackay
b2ad1caf75 AP_AHRS: writeBodyFrameOdom accepts delay 2020-05-15 10:07:52 +09:00
Randy Mackay
762e82d49d AP_AHRS: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Andrew Tridgell
8868ac2d6f AP_AHRS: disable EKF2 by default on 1M boards 2020-05-10 15:09:54 +10:00
priseborough
471372cc7f AP_AHRS: Write external nav data to EKF3 2020-04-30 15:55:59 +09:00
Peter Barker
36fd632a49 AP_AHRS: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Randy Mackay
8caf7d5811 AP_AHRS: add set_alt_measurement_noise 
These calls the EKF2 and EKF3's set_baro_alt_noise
 2020-04-28 09:38:23 +09:00
Randy Mackay
2ae31f9d76 AP_AHRS: get_position obeys always_use_EKF 
Co-Authored-By: WickedShell <Wicked.Shell.Scripts@gmail.com>
 2020-04-28 09:20:05 +09:00
Randy Mackay
585c806618 AP_AHRS: add get_primary_core_index 2020-04-24 18:18:05 +09:00
Paul Riseborough
a66479104d AP_AHRS: fix failure to arm when not using compass for yaw 2020-04-24 09:43:23 +10:00
Paul Riseborough
22c2ea7cbf AP_AHRS: Add accessor function for EKF yaw reset request 
AP_AHRS: Send yaw reset request to EKF2
 2020-04-24 09:43:23 +10:00
Paul Riseborough
9cf75bf22e AP_AHRS: Enable EKF3 default airspeed to be set 
AP_AHRS: Send default airspeed to EKF2
 2020-04-24 09:43:23 +10:00
Randy Mackay
79afc70cdb AP_AHRS: remove writeExtNavData sensOffset argument 
EKF pulls this directly from AP_VisualOdom
 2020-04-14 10:28:03 +10:00