Randy Mackay
57aa4ed023
AP_AHRS: pre-arm msg loses extra AHRS prefix
2022-11-21 18:48:49 +09:00
Andrew Tridgell
f0b2f4ee2a
AP_AHRS: added ATSC logging
...
log scale factors for angle P scaling when not == 1.0
2022-10-24 22:23:43 +09:00
Paul Riseborough
24cb640321
AP_AHRS: Add accessor function for airspeed health monitoring
2022-10-04 16:50:15 +09:00
Andrew Tridgell
f80ba734c8
AP_AHRS: removed use of "blended" accel values
...
calculate a single EF accel based on primary IMU
2022-08-21 18:51:59 +10:00
Andrew Tridgell
924759510d
AP_AHRS: fixed use of filtered gyro with DCM active
...
we need to overwrite _omega with the filtered gyro value, so we get
both the low pass filter and the notch filters. Otherwise we will fly
with very high noise gyro data
this also fixes the accel_ef_blended to use the filtered accel. It is
not blended, and removing "_blended" from the API will be worthwhile
as a followup
2022-08-21 18:51:59 +10:00
nrt
c3d8f0fa45
AP_AHRS: added a getter function to get active source set once the ekf3 filter is started
2022-08-18 02:05:27 -04:00
Peter Barker
4139b7a548
AP_AHRS: rename OpticalFlow class to AP_OpticalFlow
...
Brings us in-line with other classes in ArduPilot.
Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
2022-08-18 14:24:01 +10:00
Peter Barker
cfb391dc2c
AP_AHRS: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
2022-08-16 09:45:51 +10:00
Henry Wurzburg
a5b373e912
AP_AHRS: modify AHRS type check for compass-less setups
2022-08-09 11:02:24 +10:00
Iampete1
d423f483a6
AP_AHRS: params always use set method
2022-08-03 13:43:48 +01:00
Andrew Tridgell
0ededd7c62
AP_AHRS: use wind from simulation if available with EKF type 10
2022-08-02 07:49:34 +10:00
Peter Barker
aeb24d4978
AP_AHRS: remove method casting active EKF type for logging
...
logging is now done internally
2022-07-29 11:05:19 +10:00
Peter Barker
4909866dd9
AP_AHRS: add prearm check that we are using configured AHRS type
2022-07-28 15:53:13 +10:00
Bailey K. Srimoungchanh
b6a089f90e
AP_AHRS: Fixed body_to_earth
...
body_to_earth was not implemented consistently with earth_to_body.
Changed the order of operation to be consistent and rotate reference
frame correctly.
2022-07-22 09:11:17 +10:00
Henry Wurzburg
51a21679be
AP_AHRS: expand description of custom orientation parameters
2022-07-21 15:45:28 +01:00
Iampete1
dc0491a8ff
AP_AHRS_view: add rotate method to move from AHRS to AHRS view referance frames
2022-06-21 10:01:30 +10:00
Peter Barker
5a1d4f3bf5
AP_AHRS: update rotation based on board_orient parameter
2022-06-12 17:32:11 +10:00
Andrew Tridgell
5a1a87cc60
AP_AHRS: fixed bug in blended EKF bias
...
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
2022-05-04 06:49:34 +10:00
Peter Barker
34a7503c1e
AP_AHRS: tidy includes
2022-05-03 09:14:58 +10:00
Iampete1
d621910a59
AP_AHRS: remove unneeded get_position wrapper
2022-04-26 10:28:28 +10:00
Iampete1
6c24a5ff37
AP_AHRS: add method to get view
2022-04-26 10:03:30 +10:00
Iampete1
04fdfea74a
AP_AHRS_View: add method to get pitch trim and note on rotation
2022-04-26 10:03:30 +10:00
Joshua Henderson
7cc2382a78
AP_AHRS_DCM: NFC comment on check_matrix() normalization reset
2022-04-19 09:27:00 +10:00
Peter Barker
c1c18331f9
AP_AHRS: remove instance id from EK2 external interface
...
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
2022-04-12 10:25:29 +10:00
Peter Barker
b762aac6ce
AP_AHRS: remove instance id from EK3 external interface
...
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
2022-04-06 17:36:05 +10:00
Peter Barker
fd666dc4f1
AP_AHRS: subtract accel bias from correct ins accel instance
...
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
2022-04-03 11:41:09 +10:00
Peter Barker
7ad9609fb7
AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
4896f8a6d7
AP_AHRS: rename SITL backend to SIM
2022-03-17 14:39:55 +11:00
Iampete1
480cc3fa46
AP_AHRS: convert param to new custom rotation
2022-03-02 18:16:42 +11:00
Iampete1
1cc2e082e0
AP_AHRS: remove custom rotations
2022-03-02 18:16:42 +11:00
Peter Barker
24099f9a2d
AP_AHRS: include cleanups
2022-03-01 11:21:33 +11:00
Peter Barker
9229fb6f9d
AP_AHRS: add alias get_position to get_location
2022-02-18 21:23:06 +11:00
Iampete1
e56b6d2765
AP_AHRS: View: get_gyro_latest should include pitch trim.
2022-02-15 11:08:05 +11:00
Peter Barker
f72024fc63
AP_AHRS: move logging of LogEvent::SET_HOME up
2022-02-08 11:04:26 +11:00
Andrew Tridgell
01ac314837
AP_AHRS: use EKF rejecting_airspeed flag
...
stop using airspeed sensor when EKF is rejecting the sensor
2022-02-07 14:13:49 +11:00
murata
819b25d918
AP_AHRS: remove duplicated words from comments
2022-02-07 08:24:14 +09:00
RuffaloVM
bb1bd69172
AP_AHRS : remove duplicated words from comments
2022-02-04 08:36:35 +00:00
Peter Barker
5528159f31
AP_AHRS: add WARN_IF_UNUSED to several methods
2022-02-02 19:32:47 +11:00
Randy Mackay
9126e14c9c
AP_AHRS: getOptFlowSample returns latest correct flow data for use in calibration
2022-01-29 08:26:12 +09:00
Peter Barker
bd069cc5e9
AP_AHRS: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library
2022-01-25 10:59:17 +11:00
Peter Barker
ff63b62b0c
AP_AHRS: rename AP_AHRS::get_position to get_location
2022-01-25 10:47:22 +11:00
Peter Barker
a6099acd5c
AP_AHRS: return failure in pre_arm_check if unhealthy
2022-01-19 18:33:07 +11:00
Joshua Henderson
8a6942a9df
AP_AHRS: add define AP_AIRSPEED_ENABLED
2022-01-19 18:21:32 +11:00
Peter Barker
a31ff08f23
AP_AHRS: create and use AP_AHRS_SIM_ENABLED
2022-01-17 19:12:56 +11:00
Iampete1
efb04e7f30
AP_AHRS: add video stab log message
2022-01-05 19:56:03 +11:00
Iampete1
cee0503812
AP_Logger: add video stab log structure
2022-01-05 19:56:03 +11:00
Iampete1
9cace37b03
AHRS: RATE log: add missing ff terms
2021-12-14 10:14:28 +09:00
Peter Barker
69f4b25f81
AP_AHRS: mark type column in ORGN as instance
2021-12-08 08:31:21 +09:00
Andrew Tridgell
304b7df8c2
AP_AHRS: make the EKF accel bias accessible
...
needed for fixed wing yaw damper
2021-12-07 17:05:54 +11:00
Peter Barker
66d8be825f
AP_Logger: move LogOriginType into AP_AHRS
...
only used to log the origins by the AHRS library
2021-12-07 11:31:44 +11:00