Peter Barker
53d12ab46d
AP_AHRS: rename EKFType::NONE to EKFType::DCM
2023-09-20 17:15:10 +10:00
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
e83b6bcfcb
AP_AHRS: remove get_primary_IMU_index from public interface
2023-09-19 11:34:37 +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
6e1e1f6596
AP_AHRS: add methods for returning location for origin offsets
2023-09-12 09:29:26 +10:00
Andrew Tridgell
725a2227ca
AP_AHRS: return estimates from state structure
...
this lowers CPU usage and fixes race conditions
2023-08-26 17:13:10 +10:00
Andrew Tridgell
b38fde2cf6
AP_AHRS: fixed comments on position functions
2023-08-03 13:08:21 +10:00
Henry Wurzburg
0aef2cc133
AP_AHRS:improve filter inconsistent messages
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2023-08-01 09:09:01 +09:00
Randy Mackay
4b96c2f568
AP_AHRS: comment to clarify get-velocity-NED units
2023-07-18 21:02:02 +09:00
Peter Barker
904707de15
AP_AHRS: clarify get_vert_pos_rate AHRS method name to include 'D'
2023-06-06 20:09:28 +10:00
Paul Riseborough
34a5657e3e
AP_AHRS: Add handlers for external lat lng position set
2023-06-06 15:19:12 +10:00
Peter Barker
f192d2644c
AP_AHRS: make ExternalAHRS an AP_AHRS_Backend
2023-06-01 12:45:56 +10:00
Tom Pittenger
9ac0514e8e
AP_AHRS: move AP_NMEA_OUTPUT to a first class library
2023-02-07 21:12:07 +11:00
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
c440d98897
AP_AHRS: tidy available-AHRS-types enumeration
2023-01-23 10:05:17 +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
Peter Barker
551dae8759
AP_AHRS: break out an AP_AHRS_config.h
2023-01-10 10:27:39 +11:00
Andrew Tridgell
56c8cffc07
AP_AHRS: auto-enable EKF3 for misconfiguration
...
this fixes a "climb away" in quadplanes when AHRS_EKF_TYPE=2 and
EK2_ENABLE=0. The user has ARMING_CHECK=5390 to disable key arming
checks, and the plane flew on DCM as the configured EKF wasn't
enabled.
This resulted in AHRS::get_origin() returning false as it couldn't ask
EKF2 for the origin (as EKF2 was not enabled or instantiated)
The result was an incorrect calculation for target height during the
descent stage of QRTL, resulting in a climb away until the user took
over
2022-12-20 10:34:22 +11:00
Stephen Dade
5d3e636d71
AP_AHRS: Add support for fixed height optical flow
2022-12-01 08:03:47 +09:00
Paul Riseborough
6a328c5d3b
AP_AHRS: Add accessor function for airspeed health monitoring
2022-09-26 14:17:53 +10:00
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
nrt
c3d8f0fa45
AP_AHRS: added a getter function to get active source set once the ekf3 filter is started
2022-08-18 02:05:27 -04:00
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
aeb24d4978
AP_AHRS: remove method casting active EKF type for logging
...
logging is now done internally
2022-07-29 11:05:19 +10:00
Peter Barker
4909866dd9
AP_AHRS: add prearm check that we are using configured AHRS type
2022-07-28 15:53:13 +10:00
Bailey K. Srimoungchanh
b6a089f90e
AP_AHRS: Fixed body_to_earth
...
body_to_earth was not implemented consistently with earth_to_body.
Changed the order of operation to be consistent and rotate reference
frame correctly.
2022-07-22 09:11:17 +10:00
Peter Barker
5a1d4f3bf5
AP_AHRS: update rotation based on board_orient parameter
2022-06-12 17:32:11 +10:00
Peter Barker
34a7503c1e
AP_AHRS: tidy includes
2022-05-03 09:14:58 +10:00
Iampete1
d621910a59
AP_AHRS: remove unneeded get_position wrapper
2022-04-26 10:28:28 +10:00
Iampete1
6c24a5ff37
AP_AHRS: add method to get view
2022-04-26 10:03:30 +10:00
Peter Barker
7ad9609fb7
AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Iampete1
1cc2e082e0
AP_AHRS: remove custom rotations
2022-03-02 18:16:42 +11:00
Peter Barker
24099f9a2d
AP_AHRS: include cleanups
2022-03-01 11:21:33 +11:00
Peter Barker
9229fb6f9d
AP_AHRS: add alias get_position to get_location
2022-02-18 21:23:06 +11:00
Andrew Tridgell
01ac314837
AP_AHRS: use EKF rejecting_airspeed flag
...
stop using airspeed sensor when EKF is rejecting the sensor
2022-02-07 14:13:49 +11:00
RuffaloVM
bb1bd69172
AP_AHRS : remove duplicated words from comments
2022-02-04 08:36:35 +00:00
Peter Barker
5528159f31
AP_AHRS: add WARN_IF_UNUSED to several methods
2022-02-02 19:32:47 +11:00
Randy Mackay
9126e14c9c
AP_AHRS: getOptFlowSample returns latest correct flow data for use in calibration
2022-01-29 08:26:12 +09:00
Peter Barker
bd069cc5e9
AP_AHRS: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library
2022-01-25 10:59:17 +11:00
Peter Barker
ff63b62b0c
AP_AHRS: rename AP_AHRS::get_position to get_location
2022-01-25 10:47:22 +11:00
Peter Barker
a31ff08f23
AP_AHRS: create and use AP_AHRS_SIM_ENABLED
2022-01-17 19:12:56 +11:00
Iampete1
efb04e7f30
AP_AHRS: add video stab log message
2022-01-05 19:56:03 +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
66d8be825f
AP_Logger: move LogOriginType into AP_AHRS
...
only used to log the origins by the AHRS library
2021-12-07 11:31:44 +11:00
Peter Barker
1dd34d87e7
AP_AHRS: move LogOriginType into AP_AHRS
...
only used to log the origins by the AHRS library
2021-12-07 11:31:44 +11:00
Andrew Tridgell
bdf903b862
AP_AHRS: add accessor for GSF yaw estimator
2021-11-01 09:00:27 +11:00
Peter Barker
44d56854be
AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend
2021-10-06 19:10:36 +11:00
Andrew Tridgell
3715ce6d1a
AP_AHRS: allow setting of AHRS_TRIM_Z
2021-09-17 14:07:14 +10:00
Andrew Tridgell
3f043dd933
AP_AHRS: added get_view_rotation()
2021-09-17 14:07:14 +10:00