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564 Commits

Author SHA1 Message Date
Andrew Tridgell 33d0c5c08f AP_AHRS: only use enabled IMUs in DCM 
honor the INS_USE parameters for DCM
 2019-07-08 09:16:22 +09:00
Andrew Tridgell 46bb88173e AP_AHRS: added save/restore of attitude in backup registers 2019-05-28 17:47:19 +09:00
Andrew Tridgell 4fc4573f81 AP_AHRS: save/restore home to backup registers 
restore on watchdog reset
 2019-05-28 17:47:19 +09:00
Andrew Tridgell edffc3001b AP_AHRS: ensure AHRS never uses an unhealthy gyro 2019-04-24 11:47:56 +10:00
Michael du Breuil 62f997d73c AP_AHRS: Internalize EKF getLLH altitude management 2018-10-05 10:23:53 +09:00
Andrew Tridgell a403254c81 AP_AHRS: added get_DCM_rotation_body_to_ned() 
this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
 2018-08-02 12:38:36 +09:00
Andrew Tridgell 0bf8b84be0 AP_AHRS: don't do yaw correction in DCM while calibrating compass 
this avoids applying bad compass yaw, and helps the compass
calibration code
 2018-08-02 12:38:35 +09:00
Michael du Breuil 40d3226cd9 AP_AHRS: Remove unused ADC include 2018-08-02 12:38:34 +09:00
Patrick José Pereira 819f08b7f7 AP_AHRS: Use SITL singleton 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-26 00:02:01 +01:00
Andrew Tridgell 520e33261a AP_AHRS: fixed EKF type 10 for SITL 
this fixes the use of EKF type 10 in SITL, preventing it from using
the DCM attitude estimate.

This is especially important for RealFlight and XPlane
 2018-06-07 11:22:57 +10:00
Peter Barker 4d944da530 AP_AHRS: add a singleton-getter cast into AP_AHRS_NavEKF 
This will allow libraries which absolutely require the EKF to easily get
a cast copy of the singleton.
 2018-06-01 16:12:45 +01:00
Peter Barker 3cbb88ae20 AP_AHRS: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker 9793703a76 AP_AHRS: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Andrew Tridgell 5ae410f7ca AP_AHRS: called boost_end() on AHRS update 2018-05-05 07:45:53 +10:00
Andrew Tridgell 0b03562cf2 AP_AHRS: fix for mavlink update 2018-04-30 15:39:43 +10:00
Jacob Walser 74be9f0bda AP_AHRS: Add support for custom board orientations 2018-04-24 13:04:37 +01:00
Jacob Walser b820da5c6f AP_AHRS: update AHRS_ORIENTATION metadata 2018-04-24 13:04:37 +01:00
Pierre Kancir fdfa08c586 AP_AHRS: fix include order due to cyclic include 2018-04-17 17:21:35 +09:00
Peter Barker 355752ebb8 AP_AHRS: remove pointless initialisations 
These are either in bss or new'd.

Saves ~130 bytes
 2018-04-04 10:14:40 +01:00
Peter Barker 2a274675f6 AP_AHRS: narrow enumeration to uint8_t to avoid narrowing-warnings 2018-04-02 14:12:09 +09:00
Peter Barker aae4ed2553 AP_AHRS_NavEKF: accept external position estimates into AHRS 2018-03-27 20:28:00 +09:00
Peter Barker 20412dc0db AP_AHRS: accept external position estimates into AHRS 2018-03-27 20:27:59 +09:00
Peter Barker 3a5807ae56 AP_AHRS: move home_status into AP_AHRS 
Storing home in the AHRS object but not its state is clearly evil.

Fix that.
 2018-03-19 10:32:37 +09:00
Lucas De Marchi 517f71c183 AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 1dabcc473d AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 024b29858d AP_AHRS: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 659ab06d3b AP_AHRS: AP_AHRS gets a virtual get_hagl function, EKF marks it override 2018-03-07 12:34:39 +00:00
Peter Barker dc30197ca7 AP_AHRS: add AP::ahrs() singleton 2018-03-07 12:34:39 +00:00
Andrew Tridgell 504e231ba2 AP_AHRS: reverted UAVCAN PR 7827 2018-03-05 14:16:54 +11:00
DOMINATOR\Eugene 2f7196d71f AP_AHRS: UAVCAN publishing of attitude and location 2018-03-03 12:59:14 +12:00
Andrew Tridgell 55358459c7 AP_AHRS: fixed AP_MODULE_SUPPORTED 2018-02-10 10:50:22 +11:00
Andrew Tridgell 0b5e3936fe AP_AHRS: added earth to body 2D rotations 2018-02-08 17:36:33 +11:00
Andrew Tridgell e2d91535d0 AP_AHRS: fill in have_pos_abs 2018-02-08 17:36:33 +11:00
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