Randy Mackay
79afc70cdb
AP_AHRS: remove writeExtNavData sensOffset argument
...
EKF pulls this directly from AP_VisualOdom
2020-04-14 10:28:03 +10:00
Andrew Tridgell
5c399fce41
AP_AHRS: auto-switch to EK3/EK2 if selected option disabled
...
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.
This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
2020-04-14 09:15:43 +10:00
Andrew Tridgell
83ad1c17a8
AP_AHRS: disable DCM yaw consistency check when using external yaw
...
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
2020-04-11 21:14:31 +10:00
Randy Mackay
b0b78e974b
AP_AHRS: add get_quaternion
2020-04-09 19:41:08 +09:00
Randy Mackay
e1c623183e
AP_AHRS: minor comment fix and move var_info lower
2020-04-09 19:41:08 +09:00
Randy Mackay
24bb4876a8
AP_AHRS: move is_ext_nav_used_for_yaw to parent
2020-04-09 19:41:08 +09:00
Andrew Tridgell
393a8785f3
AP_AHRS: implement get_vibration method on AHRS
2020-03-12 08:36:40 +11:00
Peter Barker
583b25e6aa
AP_AHRS: allow NavEKFs to be compiled out
2020-01-21 11:53:18 +11:00
Peter Barker
14fce28e1b
AP_AHRS: move EKF objects in; this requires unconsting some methods
2020-01-21 11:53:18 +11:00
Andrew Tridgell
3b95b5e692
AP_AHRS: make all semaphores recursive
...
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
2020-01-19 20:19:30 +11:00
Peter Hall
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
Peter Hall
775e4c90da
AP_AHRS: remove flying time and bool
2020-01-14 22:34:37 -07:00
Peter Barker
9997cbf203
AP_AHRS: make ekf_type return from enum class
...
Eliminate default cases and rely on compiler to enforce all cases
handled in switch statement. This will be important when we make EKF2
optional.
2020-01-14 11:58:11 +11:00
Peter Barker
968d8cf7d9
AP_AHRS_NavEKF: canonicalise use of get_active_NavEKF result
...
Some places had a default case, many didn't.
2020-01-14 11:58:11 +11:00
Peter Barker
7a5b8136ad
AP_AHRS_NavEKF: inform all running EKFs that takeoff or touchdown is expected
...
Several other methods in here poke both EKFs like this.
2020-01-07 11:06:36 +11:00
Peter Barker
a608e9f7d7
AP_AHRS: NavEKF constructors no longer take rangefinder
2019-12-11 08:09:01 +11:00
Peter Barker
d3ede184cf
AP_AHRS: force the use of EKF for Copter and Sub
2019-12-02 09:16:22 +11:00
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
