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531 Commits

Author SHA1 Message Date
Peter Barker e15442355a AP_AHRS: use GPS singleton 2017-12-27 00:58:02 +00:00
khancyr 2732226664 AP_AHRS: use direct assignation and correct some style 2017-12-18 22:43:59 +00:00
khancyr dae636b39e AP_AHRS: correct some constcorrectness 2017-12-18 22:43:59 +00:00
khancyr d89d496c8f AP_AHRS: make getter const 2017-12-18 22:43:59 +00:00
Andrew Tridgell 0ccaa5bcba AP_AHRS: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Andrew Tridgell 7a6ab4ac44 AP_AHRS: fixed a bug with startup ordering of SITL 
this fixes a crash that can happen with SITL
 2017-12-13 14:09:39 +11:00
Peter Barker 5eeed442c8 AP_AHRS: correct comment 2017-12-13 10:04:50 +09:00
Andrew Tridgell 1f9a3dd1bd AP_AHRS: improved init attitdue in DCM 
this tries harder to get a good IMU sample for the initial attitude
estimate. I have seen cases of bad IMU data on startup and this makes it
much less likely
 2017-12-12 11:39:38 +11:00
Peter Barker 8a4ab685c7 AP_AHRS: implement get_hgt_ctrl_limit on base class 
If no limits are required false can be returned, so an trivial
implementation is possible
 2017-12-08 11:27:37 +09:00
Peter Barker 89e12163cd AP_AHRS: correct comment 2017-12-08 11:27:37 +09:00
Randy Mackay 82cd320bd0 AP_AHRS: add get_origin method to parent 2017-12-01 09:28:56 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 0ecb14361d AP_AHRS: NFC spell in comments 2017-11-27 23:13:34 +09:00
Samuel Tabor 05492be269 AP_AHRS: clarify scope of AHRS_GPS_USE parameter 2017-11-20 13:53:36 +09:00
Lucas De Marchi bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi cd1ff7b86f AP_AHRS: DCM: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi e2a9d9c001 AP_AHRS: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi 40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi 91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Peter Barker 97b6ca218b AP_AHRS: send ekf status reports even when EKF inactive 2017-09-06 10:50:49 +10:00
chobits d6845a911a AP_AHRS: fix get_relative_position_NE_home calcalation 2017-08-19 10:23:24 +09:00
Randy Mackay 1ddf38869a AP_AHRS: set AP_Notify gps_glitching flag 2017-07-27 14:16:23 +09:00
Peter Barker 3e0ed6deae AP_AHRS: Use GCS_Dummy GCS singleton 2017-07-07 16:18:37 +01:00
Peter Barker 12b4f2c4b6 AP_AHRS: correct example 2017-06-29 15:43:38 +01:00
priseborough fa5534502a AP_AHRS: Update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
Andrew Tridgell 770f697cfc AP_AHRS: added set/get for flying state 
this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
 2017-06-20 09:44:44 +10:00
priseborough a3483d0d34 AP_AHRS: Update for compatibility with EKF interface change 2017-06-14 12:44:41 +01:00
Randy Mackay 3e130273a9 AP_AHRS: do not fallback to DCM if EKF can provide relative position 2017-06-14 09:12:20 +09:00
Matt 6354ca7096 AP_AHRS: Set the new gps_fusion notify flag 
Uses EKF filter state to set the new gps_fusion notify flag. This allows
the GCS and notify devices to specifically be notified if the GPS is or
is not usable.
 2017-06-06 10:38:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 98a43cc4b5 AP_AHRS: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Andrew Tridgell b6568b1c7e AP_AHRS: support set_origin and get_origin for EKF 10 2017-05-08 13:38:10 +10:00
Andrew Tridgell d9223165c7 AP_AHRS: fixed get_accel_ef_blended() for SITL EKF 10 2017-05-07 09:10:44 +10:00
Andrew Tridgell 28030dd85c AP_AHRS: use SIM_ODOM_ENABLE to enable visual odom in SITL 2017-05-01 15:06:46 +10:00
Andrew Tridgell e78f55ef9b AP_AHRS: change order of EK2/EK3 update 
if EK3 is our primary estimator when we want to run the EK3 update
first, so it gets time priority for inter-EKF scheduling.
 2017-05-01 14:24:55 +10:00
Randy Mackay 0af9433c8e AP_AHRS: add set_origin 2017-04-22 10:37:31 +09:00
Eugene Shamaev 5c080ce875 AP_AHRS: calculation and reporting of AOA and SSA 2017-04-19 20:48:42 +10:00
priseborough 90cd46f4d7 AP_AHRS: simulate body frame odometry sensor 2017-04-19 11:04:40 +09:00
priseborough 3b82f60b08 AP_AHRS: add interface for use of visual odometry data 2017-04-19 11:04:40 +09:00
Andrew Tridgell 6b6ad6ddf2 AP_AHRS: fixed wrap of yaw in AHRS_View 2017-04-17 12:15:19 +10:00
Andrew Tridgell 5758532326 AP_AHRS: make AHRS2 quaternion available 2017-04-16 14:01:36 +10:00
Pierre Kancir fede727d38 AP_AHRS: example fix travis warning 
missing function declaration
implicit cast
some style fix
 2017-04-13 19:56:16 +01:00
Michael du Breuil 33d0fa3e82 AP_AHRS: Fix an index out of bounds 
Coverity 137817, getPrimaryCoreIMUIndex() can return -1, which is then invalid to pass to get_delta_velocity_dt
 2017-04-06 08:44:57 +10:00