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740 Commits

Author SHA1 Message Date
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
Randy Mackay 1b3ad9cd8d AP_AHRS: use ekf3 by default 2021-01-16 08:24:23 +09:00
Peter Barker 9099a9b622 AP_AHRS: correct names for active EKF type 2021-01-12 10:23:08 +11:00
Josh Henderson 62ff9a4d4b AP_AHRS: move logging functions to AHRS 2021-01-12 10:13:22 +11:00
Andrew Tridgell b73131cdbc AP_AHRS: review fixes 2021-01-05 21:13:12 +11:00
Andrew Tridgell 4e33b74d69 AP_AHRS: call external AHRS update 2021-01-05 21:13:12 +11:00
Andrew Tridgell b5b9b57c9e AP_AHRS: added external AHRS mavlink status 2021-01-05 21:13:12 +11:00
Andrew Tridgell 75ad1a7d31 AP_AHRS: send a text msg when active EKF changes 2021-01-05 21:13:12 +11:00
Andrew Tridgell 9dbd2d3eba AP_AHRS: expose active EKF type for logging 2021-01-05 21:13:12 +11:00
Andrew Tridgell e284c5694d AP_AHRS: added AHRS_EKF_TYPE=11 for external AHRS 2021-01-05 21:13:12 +11:00
Paul Riseborough 3a0105fcc3 AP_AHRS: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Peter Barker ca41a19072 AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend" 2020-12-11 09:55:40 +11:00
Peter Barker 55cb3e8ef0 AP_AHRS: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Peter Barker 0fca126d06 AP_AHRS: mark get_hagl as WARN_IF_UNUSED 2020-12-07 12:10:33 +11:00
Andrew Tridgell 0a80fce8b8 AP_AHRS: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Randy Mackay 8c2688605e AP_AHRS: active_EKF_type fallback to DCM checks if GPS configured for use 2020-11-25 21:00:07 +11:00
Randy Mackay 4b542aa714 AP_AHRS: add get_vel_innovations_and_variances_for_source 2020-11-20 16:43:44 +09:00
Randy Mackay dc5d1d099b AP_AHRS: add set_posvelyaw_source_set 2020-11-20 16:43:44 +09:00
Andrew Tridgell cb830dcc11 AP_AHRS: added comment from review 2020-11-10 16:15:45 +11:00
Andrew Tridgell dab091a801 AP_AHRS: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1bc82d3118 AP_AHRS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell 9b35bfba55 AP_AHRS: use enum class for takeoff/touchdown states 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 31fbb59384 AP_AHRS: delay EKF start until logging ready 
for replay to work reliably we need all the parameters output before
we init the EKF.

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00