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201 Commits

Author SHA1 Message Date
Andrew Tridgell a427abab0d 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
 2021-08-16 15:03:55 +10:00
CallanDaniel 16f7348f96 AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-07-04 08:19:10 +10:00
Peter Barker 1122642f50 AP_AHRS: remove HIL support 2021-07-04 08:19:10 +10:00
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 ea1884f491 AP_AHRS: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +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 55cb3e8ef0 AP_AHRS: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Andrew Tridgell dab091a801 AP_AHRS: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Peter Barker 9d45669a58 AP_AHRS: reuse ins object for multiple calls, simplify delta_t variable 2020-10-20 11:24:34 +11:00
Randy Mackay 1d97416a51 AP_AHRS: replace prearm_healthy with pre_arm_check 
Also removes prearm_failure_reason
 2020-10-07 11:53:07 +11:00
Andrew Tridgell a4e7c72635 AP_AHRS: removed duplicate implementation of airspeed_estimate() 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla b5b3298f0a AP_AHRS: get airspeed estimate from non-primary instances too 
with multiple airspeed sensors and airspeed affinity in EKF3,
it is possible to have switched over to a lane not using the
primary airspeed sensor, so AHRS should know which airspeed
sensor to use, i.e, the one being used by the primary lane.
 2020-08-27 20:20:51 +10:00
Peter Barker e55057ad5d AP_AHRS_DCM: limit measured airspeed according to WIND_MAX 2020-08-15 18:14:05 +10:00
Randy Mackay b0b78e974b AP_AHRS: add get_quaternion 2020-04-09 19:41:08 +09:00
Peter Hall f6897632f8 AP_AHRS: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Randy Mackay fb38db6640 AP_AHRS: resolve compile warning in AP_AHRS_DCM::use_compass 2019-09-05 08:39:10 +10:00
Andrew Tridgell 3dd7e7e83a AP_AHRS: only use enabled IMUs in DCM 
honor the INS_USE parameters for DCM
 2019-07-07 19:03:01 +10:00
Michael du Breuil 1226eb825a AP_AHRS: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil 4aa33bec49 AP_AHRS: Remove AP_GPS.h from AP_AHRS.h 2019-06-18 10:02:05 +10:00
Andrew Tridgell 670015b30e AP_AHRS: added const for PersistentData 2019-05-15 15:33:48 +10:00
Andrew Tridgell 74e56ab8cc AP_AHRS: use new persistent_data interface 2019-05-15 15:33:48 +10:00
Andrew Tridgell f7026b854e AP_AHRS: added save/restore of attitude in backup registers 2019-04-22 16:53:35 +10:00
Andrew Tridgell b8605c9ee6 AP_AHRS: save/restore home to backup registers 
restore on watchdog reset

# Conflicts:
#	libraries/AP_AHRS/AP_AHRS_DCM.cpp
 2019-04-22 16:53:35 +10:00
Pierre Kancir 54bc960ca3 AP_AHRS: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Pierre Kancir 701c5dd4c0 AP_AHRS: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Tom Pittenger a577223ac6 AP_AHRS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Andrew Tridgell 2ffded4dd7 AP_AHRS: implement get_velocity_NED() for DCM 2019-03-19 14:39:04 +11:00
Michael du Breuil 2ed1757353 AP_AHRS: Remove unused uptime 2019-03-19 11:42:54 +11:00
Peter Barker 3889c91974 AP_AHRS: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 44ab1cf14b AP_AHRS: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Peter Barker 6fd687e861 AP_AHRS: retry sending home/origin if it fails 2019-02-26 14:01:41 +11:00
Peter Barker 3959780999 AP_AHRS: ensure home is always stored in ALT_FRAME_ABSOLUTE 2019-02-26 10:35:39 +11:00
Peter Barker ab9c084179 AP_AHRS: add sanity checks for home location being set 2019-02-15 08:28:45 +11:00
Peter Barker 2e403bfd52 AP_AHRS: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker b416bc603e AP_AHRS_DCM: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Andrew Tridgell 09dde518df AP_AHRS: fixed dead-reckoning groundspeed vector 
this is essential for RTL in planes on GPS loss
 2018-11-19 07:32:20 +11:00
Michael du Breuil 4852562ec7 AP_AHRS: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Peter Barker e29dbbf158 AP_AHRS: notify and log home changes 2018-10-16 10:55:13 +11:00
Andrew Tridgell de02cb9c8b AP_AHRS: fixed synthetic airspeed to be along +ve X axis 
this prevents us from thinking we have +ve airspeed when flying
backwards with no pitot tube
 2018-09-14 19:28:29 +10:00
Andrew Tridgell 9897bf6127 AP_AHRS: support locked access to AHRS data 2018-08-25 15:44:36 +10:00
Andrew Tridgell 5b0b9ef962 AP_AHRS: don't do yaw correction in DCM while calibrating compass 
this avoids applying bad compass yaw, and helps the compass
calibration code
 2018-07-18 16:07:19 +10:00
Peter Barker 3cbb88ae20 AP_AHRS: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
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 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
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
priseborough fa5534502a AP_AHRS: Update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00