Randy Mackay
d0a2198e00
AP_AHRS: expose EKF setTerrainHgtStable accessor
2020-06-24 21:16:50 +09:00
chobits
c9e363d529
AP_AHRS: support VISION_SPEED_ESTIMATE
2020-06-01 17:51:24 +09:00
Randy Mackay
b2ad1caf75
AP_AHRS: writeBodyFrameOdom accepts delay
2020-05-15 10:07:52 +09:00
Randy Mackay
762e82d49d
AP_AHRS: writeExtNavData accepts delay
2020-05-15 10:07:52 +09:00
Andrew Tridgell
8868ac2d6f
AP_AHRS: disable EKF2 by default on 1M boards
2020-05-10 15:09:54 +10:00
Randy Mackay
8caf7d5811
AP_AHRS: add set_alt_measurement_noise
...
These calls the EKF2 and EKF3's set_baro_alt_noise
2020-04-28 09:38:23 +09:00
Randy Mackay
585c806618
AP_AHRS: add get_primary_core_index
2020-04-24 18:18:05 +09:00
Paul Riseborough
22c2ea7cbf
AP_AHRS: Add accessor function for EKF yaw reset request
...
AP_AHRS: Send yaw reset request to EKF2
2020-04-24 09:43:23 +10:00
Paul Riseborough
9cf75bf22e
AP_AHRS: Enable EKF3 default airspeed to be set
...
AP_AHRS: Send default airspeed to EKF2
2020-04-24 09:43:23 +10:00
Randy Mackay
79afc70cdb
AP_AHRS: remove writeExtNavData sensOffset argument
...
EKF pulls this directly from AP_VisualOdom
2020-04-14 10:28:03 +10:00
Andrew Tridgell
5c399fce41
AP_AHRS: auto-switch to EK3/EK2 if selected option disabled
...
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.
This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
2020-04-14 09:15:43 +10:00
Randy Mackay
b0b78e974b
AP_AHRS: add get_quaternion
2020-04-09 19:41:08 +09:00
Randy Mackay
24bb4876a8
AP_AHRS: move is_ext_nav_used_for_yaw to parent
2020-04-09 19:41:08 +09:00
Peter Barker
583b25e6aa
AP_AHRS: allow NavEKFs to be compiled out
2020-01-21 11:53:18 +11:00
Peter Barker
14fce28e1b
AP_AHRS: move EKF objects in; this requires unconsting some methods
2020-01-21 11:53:18 +11:00
Peter Hall
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
Peter Barker
9997cbf203
AP_AHRS: make ekf_type return from enum class
...
Eliminate default cases and rely on compiler to enforce all cases
handled in switch statement. This will be important when we make EKF2
optional.
2020-01-14 11:58:11 +11:00
Peter Barker
d3ede184cf
AP_AHRS: force the use of EKF for Copter and Sub
2019-12-02 09:16:22 +11:00
Randy Mackay
4a1247b9f7
AP_AHRS: add get_innovations
2019-10-18 11:15:25 +09:00
hoangthien94
916de076ec
AP_AHRS: add method to check if ext nav is used for yaw
2019-08-03 08:44:11 +09:00
Peter Barker
9732940220
AP_AHRS: navekf: add Log_Write access point
2019-07-06 19:05:51 +10:00
Andrew Tridgell
99316a191c
AP_AHRS: added check_lane_switch()
2019-06-12 09:52:20 +10:00
Michael du Breuil
334b1622e1
AP_AHRS: Allow checking all EKF cores for health
2019-04-09 10:53:25 +10:00
Mark Whitehorn
dd8bfb0ad4
AP_AHRS: attitudes_consistent: no euler angles
2019-04-04 11:26:46 +11:00
Randy Mackay
ba02894734
AP_AHRS: attitude pre-arm check skips yaw if no compass
...
Also provides better feedback on the axis and angular difference
2019-03-07 09:34:39 +09:00
Randy Mackay
b202270d1a
AP_AHRS: minor format fixes
2019-02-22 13:00:07 +09:00
Randy Mackay
f1a023c872
AP_AHRS: add attitudes_consistent pre-arm check
2019-02-22 13:00:07 +09:00
Tom Pittenger
c45b96fee9
AP_AHRS: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement
2019-02-17 13:00:06 -08:00
Peter Barker
306a40bb77
AP_AHRS: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
2018-09-11 09:03:22 +10:00
Peter Barker
3cbb88ae20
AP_AHRS: split home-set and home-locked state
2018-05-29 14:38:45 +10:00
Pierre Kancir
fdfa08c586
AP_AHRS: fix include order due to cyclic include
2018-04-17 17:21:35 +09:00
Peter Barker
aae4ed2553
AP_AHRS_NavEKF: accept external position estimates into AHRS
2018-03-27 20:28:00 +09:00
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
e15442355a
AP_AHRS: use GPS singleton
2017-12-27 00:58:02 +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
Peter Barker
5eeed442c8
AP_AHRS: correct comment
2017-12-13 10:04:50 +09:00
Peter Barker
8a4ab685c7
AP_AHRS: implement get_hgt_ctrl_limit on base class
...
If no limits are required false can be returned, so an trivial
implementation is possible
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
Lucas De Marchi
e2a9d9c001
AP_AHRS: add static create method
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
Randy Mackay
0af9433c8e
AP_AHRS: add set_origin
2017-04-22 10:37:31 +09:00
Eugene Shamaev
5c080ce875
AP_AHRS: calculation and reporting of AOA and SSA
2017-04-19 20:48:42 +10:00
priseborough
90cd46f4d7
AP_AHRS: simulate body frame odometry sensor
2017-04-19 11:04:40 +09:00
priseborough
3b82f60b08
AP_AHRS: add interface for use of visual odometry data
2017-04-19 11:04:40 +09:00
Andrew Tridgell
5758532326
AP_AHRS: make AHRS2 quaternion available
2017-04-16 14:01:36 +10:00
Andrew Tridgell
a11dca5229
AP_AHRS: added optional skip_ins_update to AHRS::update()
...
avoid the ins update if already done in copter fast_loop()
2017-04-03 13:04:11 +09:00
Peter Barker
e744460ff5
AP_AHRS: mark many functions as override
...
Also take the opportunity to remove void parameter
2017-02-24 21:13:08 +11:00