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
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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
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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
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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
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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
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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
