Peter Barker
d131cf01d3
AP_AHRS: use compass reference rather than pointer
2021-07-30 17:37:08 +10:00
Peter Barker
ca58aa9c5f
AP_AHRS: stop using AHRS as conduit for Compass pointer
2021-07-30 12:19:42 +10:00
Peter Barker
e4bceb2417
AP_AHRS: move AOA/SSA to AP_AHRS, don't recalc on fetch
2021-07-30 11:23:06 +10:00
Iampete1
9cceb2d5c1
AP_AHRS: update orientation param values
2021-07-28 18:09:05 +10:00
Peter Barker
f557d41145
AP_AHRS: rotate quaternions into vehicle body frame
...
DCM was having it both ways depending on whether it was
primary/secondary.
These are mostly uses for reporting, in which case you would expect the
quaternion to match the eulers.
2021-07-28 17:20:28 +10:00
Peter Barker
5160b4f6ca
AP_AHRS: move AP_NMEA_Output to AHRS frontend
2021-07-27 16:55:35 +10:00
Peter Barker
88d49effe7
AP_AHRS: move variable init into variable declaration
2021-07-23 09:55:14 +10:00
Peter Barker
15e5831002
AP_AHRS: remove unused get_expected_mag_field method
...
there's get_mag_field_NED on AP_AHRS....
2021-07-23 09:55:14 +10:00
Peter Barker
5b372dae06
AP_AHRS: stop storing gyro drift rate as variable
...
This is constant and is just folded into whereever it is used.
2021-07-23 09:55:14 +10:00
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
