Peter Barker
b95bd8f19d
AP_AHRS: remove call to get_home()
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this is our object, we don't need permission
2024-04-16 08:47:15 +09:00
Clyde McQueen
f422537f70
AP_AHRS: set_origin calls Log_Write_Home_And_Origin on success
2024-04-02 11:00:22 +11:00
Peter Barker
2292a73da1
AP_AHRS: stop passing serial manager to GPS init
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it can get this via the singleton
2024-03-19 07:28:55 +11:00
Peter Barker
8d2109faec
AP_AHRS: avoid use of AP_Motors include in header
2024-03-16 07:14:26 +11:00
Peter Barker
a836bd8583
AP_AHRS: add and use AP_CUSTOMROTATIONS_ENABLED
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also add to build_options.py
2024-03-03 08:22:46 +11:00
Andrew Tridgell
192d9f6dbd
AP_AHRS: don't use accel/gyro from ExternalAHRS unless enabled
2024-02-27 21:10:20 +11:00
Peter Barker
eb0c66fc90
AP_AHRS: move logger object up to AP_Vehicle
2024-02-13 10:54:29 +11:00
Simon Hancock
186b7be086
AP_AHRS: Updates to log message units and help text
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Set quaternion component units to no-unit from UNKNOWN
2024-01-21 14:26:54 +11:00
Peter Barker
7cf033efd9
AP_AHRS: allow compilation with HAL_LOGGING_ENABLED false
2024-01-17 18:25:55 +11:00
Peter Barker
d7fa5a47de
AP_AHRS: add missing include for GPSUse
2024-01-17 18:18:12 +11:00
Peter Barker
0850a5fa43
AP_AHRS: create and use an AP_AHRS_EXTERNAL_ENABLED
2024-01-17 18:18:12 +11:00
Peter Barker
8b9831dc74
AP_AHRS: correct compilation when AP_AHRS_ENABLED is off
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e.g. CubeOrange-periph-heavy
2024-01-16 16:14:04 +11:00
Peter Barker
02ef8bf18a
AP_AHRS: use AP_AHRS_BACKEND_DEFAULT_ENABLED for sim and navkef3
2024-01-16 12:16:35 +11:00
Peter Barker
18c5daaa38
AP_AHRS: use a switch statement when falling back to DCM
2024-01-16 12:16:35 +11:00
Peter Barker
f7e94bcc75
AP_AHRS: make AHRS attitude member variables private
2024-01-14 12:47:47 +11:00
Peter Barker
3ed8a434ce
AP_AHRS: add missing SITL header include
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the singleton is used in this file
2024-01-03 18:33:10 +11:00
Peter Barker
dd0a7a551b
AP_AHRS: do not compile AP_AHRS.cpp if AP_AHRS_ENABLED is 0
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on Periph we end up not having a default backend, which is a compilation failure
2024-01-03 17:35:54 +11:00
Peter Barker
1e41030167
AP_AHRS: cope with AP_INERTIAL_SENSOR being 0
2024-01-03 17:35:54 +11:00
njwhite
03ae94706e
AP_AHRS: Don't Switch to DCM to get Better GPS if DCM Isn't Using GPS
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Look at the parameter to see if DCM uses GPS; if not don't prefer DCM for using GPS.
2024-01-01 13:16:04 +11:00
Tom Pittenger
39e7209e33
AP_AHRS: move wind helper functions from AP_Landing
2023-12-26 10:20:23 +11:00
Andrew Tridgell
6f79c1cee2
AP_AHRS: use EKFType enum class in set_ekf_type()
2023-12-17 09:47:30 +11:00
patrick.wiltshire956@gmail.com
bdab1054d6
AP_AHRS: added set_ekf_type() and DCM logging
2023-12-17 09:47:30 +11:00
Paul Riseborough
7601a02e98
AP_AHRS: added AHRS_OPTIONS parameter
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the first option is to disable DCM fallback on fixed wing. This is
suitable in environments with a high likelyhood of GPS interference
2023-12-05 19:28:50 +11:00
Bob Long
6eed40dec1
AP_InertialNav: add fallback vertical velocity
2023-12-05 10:44:37 +11:00
Peter Barker
f40250c073
AP_AHRS: compile EKF2 out by default on all boards
2023-11-27 09:05:08 +11:00
muramura
87f4509472
AP_AHRS: Change to Boolean value
2023-11-11 09:06:42 +09:00
Iampete1
19b263a220
AP_AHRS: check the health of the airspeed sensor that is being used
2023-10-31 10:39:21 +11:00
Mykhailo Kuznietsov
28e4f78ebb
AP_AHRS: Fix some typos
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Fixed some typos found in the code.
2023-10-12 18:30:42 +11:00
Tim Tuxworth
12f9fe9456
AP_AHRS: Correct/clarify AHRS_WIND_MAX description
2023-10-11 19:09:00 +11:00
Henry Wurzburg
5a64cc9e8e
AP_AHRS: add airspeed estimate status logging
2023-10-10 08:11:10 +09:00
Peter Barker
fa4c7d8eb0
AP_AHRS: allow compilation when GPS not available
2023-10-04 18:10:58 +11:00
Peter Barker
486ed2965e
AP_AHRS: add AP_AHRS_DCM_ENABLED
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preliminary commit to add the bulk of the changes which are not problematic
2023-09-27 08:00:54 +10:00
Peter Barker
8e57d66a0d
AP_AHRS: move AP_AHRS_DCM::groundspeed_vector into correct file
2023-09-20 19:06:10 +10:00
Peter Barker
53d12ab46d
AP_AHRS: rename EKFType::NONE to EKFType::DCM
2023-09-20 17:15:10 +10:00
Peter Barker
12a06ee0ae
AP_AHRS: make a pair of methods static on AP_AHRS_Backend
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these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
2023-09-19 13:20:15 +10:00
Peter Barker
a5bfd58524
AP_AHRS: remove un-needed AP_AHRS_Backend::getCorrectedDeltaVelocityNED
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over-kill, and can be derived from backend biases if required
2023-09-19 12:51:31 +10:00
Peter Barker
9bcd9df7dd
AP_AHRS: move load_watchdog_home into correct cpp file
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NFC, just moving the code out of the DCM backend file
2023-09-19 11:35:45 +10:00
Peter Barker
622b83da9e
AP_AHRS: move set_home method into correct .cpp file
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NFC, just moving the code in prepration for allowing DCM to be compiled out
2023-09-19 11:35:45 +10:00
Peter Barker
f8a4dd02d9
AP_AHRS: simplify specification of primary IMU indices
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given that DCM doesn't specify to use the primary accel or gyro when fetching the data from the Ins library, it shouldn't be special-cased here when asked what the primary IMU and accel are. Note that this was asking for the *configured* backend type, rather than the active EKF type, making these clauses even stranger.
This also changes the definition of the "primary IMU index" to be whichever gyro is active rather than the accel. Since we don't currently split primary gyro/primary accel, this is a reasonable change.
2023-09-19 11:34:37 +10:00
Peter Barker
e83b6bcfcb
AP_AHRS: remove get_primary_IMU_index from public interface
2023-09-19 11:34:37 +10:00
Peter Barker
0b4007d22c
AP_AHRS: make comment match code behaviour in airspeed DCM-fallback
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the comment here was incorrect; we do not need EKF3 to have a good wind estimate to fall back to DCM here.
Also restructure the code to make it more obvious that this is what's going on.
2023-09-19 11:30:45 +10:00
Peter Barker
c30bceb2a0
AP_AHRS: return location inside backend_results structure
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with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
2023-09-19 11:25:49 +10:00
Andy Piper
2f807230d0
AP_AHRS: rename get_angle_P_scale_logging()
2023-09-13 18:02:44 +10:00
Peter Barker
6e1e1f6596
AP_AHRS: add methods for returning location for origin offsets
2023-09-12 09:29:26 +10:00
Peter Barker
73a09f3dc5
AP_AHRS: allow more libraries to compile with no HAL_GCS_ENABLED
2023-09-05 22:23:51 +10:00
Andrew Tridgell
d8c5ce4347
AP_AHRS: fixes for macos CAN SITL build
2023-08-29 15:09:48 +10:00
Andrew Tridgell
725a2227ca
AP_AHRS: return estimates from state structure
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this lowers CPU usage and fixes race conditions
2023-08-26 17:13:10 +10:00
Andrew Tridgell
5d4bf9fc14
AP_AHRS: fixed build for SITL periph
2023-08-24 13:06:40 +10:00
Andrew Tridgell
ce33149c9d
AP_AHRS: fixed relative home functions to calculate without origin
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this allows for FENCE_AUTOENABLE on planes with no compass
2023-08-03 13:08:21 +10:00
Andrew Tridgell
b38fde2cf6
AP_AHRS: fixed comments on position functions
2023-08-03 13:08:21 +10:00