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840 Commits

Author SHA1 Message Date
Iampete1 dc0491a8ff AP_AHRS_view: add rotate method to move from AHRS to AHRS view referance frames 2022-06-21 10:01:30 +10:00
Peter Barker 5a1d4f3bf5 AP_AHRS: update rotation based on board_orient parameter 2022-06-12 17:32:11 +10:00
Andrew Tridgell 5a1a87cc60 AP_AHRS: fixed bug in blended EKF bias 
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
 2022-05-04 06:49:34 +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
Iampete1 04fdfea74a AP_AHRS_View: add method to get pitch trim and note on rotation 2022-04-26 10:03:30 +10:00
Joshua Henderson 7cc2382a78 AP_AHRS_DCM: NFC comment on check_matrix() normalization reset 2022-04-19 09:27:00 +10:00
Peter Barker c1c18331f9 AP_AHRS: remove instance id from EK2 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-12 10:25:29 +10:00
Peter Barker b762aac6ce AP_AHRS: remove instance id from EK3 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-06 17:36:05 +10:00
Peter Barker fd666dc4f1 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-03 11:41:09 +10:00
Peter Barker 7ad9609fb7 AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker 4896f8a6d7 AP_AHRS: rename SITL backend to SIM 2022-03-17 14:39:55 +11:00
Iampete1 480cc3fa46 AP_AHRS: convert param to new custom rotation 2022-03-02 18:16:42 +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
Iampete1 e56b6d2765 AP_AHRS: View: get_gyro_latest should include pitch trim. 2022-02-15 11:08:05 +11:00
Peter Barker f72024fc63 AP_AHRS: move logging of LogEvent::SET_HOME up 2022-02-08 11:04:26 +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
murata 819b25d918 AP_AHRS: remove duplicated words from comments 2022-02-07 08:24:14 +09:00
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 a6099acd5c AP_AHRS: return failure in pre_arm_check if unhealthy 2022-01-19 18:33:07 +11:00
Joshua Henderson 8a6942a9df AP_AHRS: add define AP_AIRSPEED_ENABLED 2022-01-19 18:21:32 +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
Iampete1 cee0503812 AP_Logger: add video stab log structure 2022-01-05 19:56:03 +11:00
Iampete1 9cace37b03 AHRS: RATE log: add missing ff terms 2021-12-14 10:14:28 +09:00
Peter Barker 69f4b25f81 AP_AHRS: mark type column in ORGN as instance 2021-12-08 08:31:21 +09:00
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 0141ec5be7 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-11-24 13:52:13 +11:00
Andrew Tridgell 01fb16b3b0 AP_AHRS: relax arming checks for inactive AHRS types 
When using an EKF as ride-along we should not fail arming if it has
inconsistent yaw between its lanes. This is especially important when
using external yaw or GPS yaw with EKF3, where yaw is expected to be
bad with EKF2.

The check on DCM is based on the existance of an AHRS view. This is so
that tailsitters do not get arming failures due to the inability of
DCM to cope with being nose up
 2021-11-04 17:44:29 +11:00
Andrew Tridgell bdf903b862 AP_AHRS: add accessor for GSF yaw estimator 2021-11-01 09:00:27 +11:00
Andy Piper e1dd0fd70d AP_AHRS: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI 2021-10-26 11:42:12 +11:00
Peter Barker 43e83f18be AP_AHRS: do not send EKF_STATUS_REPORT from DCM 
This means that even if you configure DCM as your primary you won't get
its status.

Given the status was currently garbage, this isn't necessarily a bad
thing at the moment.
 2021-10-06 19:10:36 +11:00
Peter Barker 2f69dcc085 AP_AHRS: cache some trig results for yaw in DCM backend 2021-10-06 19:10:36 +11:00
Peter Barker 44d56854be AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend 2021-10-06 19:10:36 +11:00
Hwurzburg 873097c030 AP_AHRS: Change orientation labels to march order of rotation 2021-10-05 11:21:48 +11:00
Gone4Dirt 94b97313be AP_AHRS: Add APM_BUILD_Heli 2021-09-29 19:55:48 +10:00
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
Josh Henderson 38ead58df2 AP_AHRS: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
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