Peter Barker
a325ddbfa9
AP_AHRS: rename ins get_primary_accel to get_first_usable_accel
2024-06-26 17:12:12 +10:00
Peter Barker
1e41030167
AP_AHRS: cope with AP_INERTIAL_SENSOR being 0
2024-01-03 17:35:54 +11:00
Peter Barker
12a06ee0ae
AP_AHRS: make a pair of methods static on AP_AHRS_Backend
...
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
...
over-kill, and can be derived from backend biases if required
2023-09-19 12:51:31 +10:00
Peter Barker
c30bceb2a0
AP_AHRS: return location inside backend_results structure
...
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
Peter Barker
904707de15
AP_AHRS: clarify get_vert_pos_rate AHRS method name to include 'D'
2023-06-06 20:09:28 +10:00
Henry Wurzburg
3a49804703
AP_AHRS: fix compile for 1MB bds using SITL on hdwr
2023-05-16 21:11:36 +10:00
Peter Barker
f67f025c92
AP_AHRS: pre-declare Location object
...
we don't need to know the storage, and if you cut enough stuff out then we don't end up transitively including the required header for this.
2023-05-15 16:34:23 +10:00
Peter Barker
7fa0b75d48
AP_AHRS: avoid using struct Location
...
clang reports this could be a problem when compiling under some EABIs. Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
2023-02-04 22:51:54 +11:00
Peter Barker
aa7ab28969
AP_AHRS: add a bool wind_estimate(...)
...
NavEKF3 can fail to return a wind estimate, and we lose that value
2023-01-18 11:20:32 +11:00
Peter Barker
c42754b691
AP_AHRS: create an AP_AHRS_SIM backend
2023-01-12 13:11:40 +11:00
Andrew Tridgell
f80ba734c8
AP_AHRS: removed use of "blended" accel values
...
calculate a single EF accel based on primary IMU
2022-08-21 18:51:59 +10:00
Peter Barker
4139b7a548
AP_AHRS: rename OpticalFlow class to AP_OpticalFlow
...
Brings us in-line with other classes in ArduPilot.
Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
2022-08-18 14:24:01 +10:00
Peter Barker
cfb391dc2c
AP_AHRS: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
2022-08-16 09:45:51 +10:00
Peter Barker
24099f9a2d
AP_AHRS: include cleanups
2022-03-01 11:21:33 +11:00
murata
819b25d918
AP_AHRS: remove duplicated words from comments
2022-02-07 08:24:14 +09:00
Peter Barker
ff63b62b0c
AP_AHRS: rename AP_AHRS::get_position to get_location
2022-01-25 10:47:22 +11:00
Joshua Henderson
8a6942a9df
AP_AHRS: add define AP_AIRSPEED_ENABLED
2022-01-19 18:21:32 +11:00
Andrew Tridgell
304b7df8c2
AP_AHRS: make the EKF accel bias accessible
...
needed for fixed wing yaw damper
2021-12-07 17:05:54 +11:00
Peter Barker
44d56854be
AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend
2021-10-06 19:10:36 +11:00
Peter Barker
29d2eed9e4
Sub: view update does not take skip_ins_update
2021-08-31 14:28:53 +10:00
Peter Barker
9dbd9d1e06
AP_AHRS: call INS update in AP_AHRS::update w/o holding data sem
...
We shouldn't be holding the data semaphore while waiting for the samples
- lots of things might be unnecessarily blocked
DCM's update function doesn't need to take the semaphore as it is
already taken by AP_AHRS
2021-08-31 14:28:53 +10:00
Randy Mackay
1c08866342
AP_AHRS: add using_extnav_for_yaw
2021-08-31 09:20:17 +10:00
Randy Mackay
e7be608a4a
AP_AHRS: rename is_ext_nav_used_for_yaw to using_noncompass_for_yaw
2021-08-31 09:20:17 +10:00
Peter Barker
9114d4fc86
AP_AHRS: make home-relative functions AHRS-frontend only
2021-08-25 18:32:07 +10:00
Peter Barker
e2722c8e12
AP_AHRS: move active_accel_instance into DCM private header section
2021-08-24 10:23:36 +10:00
Peter Barker
d6c7c59199
AP_AHRS: remove custom_rotation matrix to frontend
...
Only one of these per vehicle
2021-08-24 10:23:36 +10:00
Peter Barker
645a5302d0
AP_AHRS: move DCM parameters into DCM header
2021-08-24 10:23:36 +10:00
Peter Barker
74709c6292
AP_AHRS: move groundspeed vector up to AP_AHRS_DCM
...
The other estimators all have their own implementation of this
2021-08-24 10:23:36 +10:00
Peter Barker
8169910866
AP_AHRS: move frontend parameters up / DCM parameters down
2021-08-24 10:23:36 +10:00
Andrew Tridgell
53e7436525
AP_AHRS: allow for fallback to DCM in quadplanes
...
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
2021-08-19 14:42:28 +10:00
Peter Barker
5d49d29c27
AP_AHRS: move wind-estimation-enabled state to frontend
2021-08-18 18:37:39 +10:00
Peter Barker
8daa0a099c
AP_AHRS: rename yaw_initialised access method to dcm_yaw_initialised
...
This is what it really means.
Also put the relevant state within the DCM object
2021-08-18 18:37:39 +10:00
Peter Barker
608608f32f
AP_AHRS: internalise application of correct_centrifugal
...
This is a DCM-only option but that's not clear with the interface.
Internalise the variable and base it off build type.
2021-08-17 10:36:46 +10:00
Peter Barker
1cfd9f57ce
AP_AHRS: move VehicleClass handling to AHRS frontend
...
.... and renaming the enumeration while we're at it
2021-08-17 10:34:07 +10:00
Peter Barker
73bad9fd2d
AP_AHRS: move fly_forward flag to front end
...
This same flag is requested by the DAL so AN_NavEKF2 and AP_NavEKF3 can
use it in their estimates - so AP_AHRS_DCM accessing it via the same
mechanism is not out-of-shape
2021-08-11 15:36:22 -07:00
Peter Barker
e9c56a2b0a
AP_AHRS: move takeoff/touchdown flags to frontend
2021-08-11 18:45:34 +10:00
Peter Barker
ecd488b3c3
AP_AHRS: move trim-related functionality to front end
2021-08-10 09:41:19 +10:00
Peter Barker
7f4a4a99d6
AP_AHRS: move home and origin methods to frontend
2021-08-05 10:37:47 +10:00
Peter Barker
383807e334
AP_AHRS: move AOA state to private in frontend
...
AP_AHRS: make update_AOA_SSA non-virtual
2021-08-02 20:55:04 +10:00
Peter Barker
ca58aa9c5f
AP_AHRS: stop using AHRS as conduit for Compass pointer
2021-07-30 12:19:42 +10:00
Peter Barker
e4bceb2417
AP_AHRS: move AOA/SSA to AP_AHRS, don't recalc on fetch
2021-07-30 11:23:06 +10:00
Peter Barker
5160b4f6ca
AP_AHRS: move AP_NMEA_Output to AHRS frontend
2021-07-27 16:55:35 +10:00
Peter Barker
88d49effe7
AP_AHRS: move variable init into variable declaration
2021-07-23 09:55:14 +10:00
Peter Barker
15e5831002
AP_AHRS: remove unused get_expected_mag_field method
...
there's get_mag_field_NED on AP_AHRS....
2021-07-23 09:55:14 +10:00
Peter Barker
5b372dae06
AP_AHRS: stop storing gyro drift rate as variable
...
This is constant and is just folded into whereever it is used.
2021-07-23 09:55:14 +10:00
Peter Barker
d351b7c7dc
AP_AHRS: fix includes for moved files
2021-07-22 21:21:40 +10:00
Peter Barker
97b394a5ef
AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.*
2021-07-22 21:21:40 +10:00