Andrew Tridgell
f7be18755e
AP_AHRS: fixed earth frame accel for EKF3 with significant trim
2023-02-28 17:16:39 +11:00
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
6ce2e17232
AP_AHRS: use FieldBitmaskEnum and FieldValueEnum
2023-01-25 19:50:34 +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
d78ea08d24
AP_AHRS: move AP_AHRS_SIM::get_results into backend file
2023-01-17 10:49:56 +11:00
Peter Barker
c42754b691
AP_AHRS: create an AP_AHRS_SIM backend
2023-01-12 13:11:40 +11:00
Andy Piper
80fb33fb8b
AP_AHRS: add throttle slew to RATE
...
log PD scaling values
2023-01-11 18:59:52 +11:00
Peter Barker
551dae8759
AP_AHRS: break out an AP_AHRS_config.h
2023-01-10 10:27:39 +11:00
Peter Barker
3854e4a99d
AP_AHRS: get_relative_position_D_home: don't use home until set
2023-01-04 18:11:01 +11:00
Iampete1
f933f148ed
AP_AHRS: always run external AHRS arming check if enabled
2023-01-03 10:32:20 +11:00
Andrew Tridgell
87b4b031bf
AP_AHRS: if DCM has no yaw source then don't fallback when hovering
...
this copes with quadplanes with no compass. With a compass we are
better off using EKF when not in fly-forward as it will give better
height control.
This makes QHOVER for takeoff in quadplanes with no compass a lot more
flyable
2022-12-20 10:34:22 +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
Andrew Tridgell
81b519056b
AP_AHRS: implement timing jitter in SITL
...
make the AHRS update take a random amount of extra CPU time
2022-12-06 11:03:50 +11:00
Stephen Dade
5d3e636d71
AP_AHRS: Add support for fixed height optical flow
2022-12-01 08:03:47 +09:00
Peter Barker
141074d07a
AP_AHRS: use Vector3f.xy() to avoid creating a fresh Vector2f
2022-11-16 17:59:29 +11:00
Peter Barker
5ed0451f8b
AP_AHRS: include required AP_Vehicle_Type header
2022-11-02 18:35:48 +11:00
Randy Mackay
f2ed41f5cf
AP_AHRS: pre-arm msg loses extra AHRS prefix
2022-10-21 08:07:39 +11:00
Andrew Tridgell
d398e567a3
AP_AHRS: added ATSC logging
...
log scale factors for angle P scaling when not == 1.0
2022-10-18 07:38:39 +11:00
jackhong12
4a4f361a17
all: use CLASS_NO_COPY() macro
2022-10-04 11:23:04 +11:00
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
Andrew Tridgell
924759510d
AP_AHRS: fixed use of filtered gyro with DCM active
...
we need to overwrite _omega with the filtered gyro value, so we get
both the low pass filter and the notch filters. Otherwise we will fly
with very high noise gyro data
this also fixes the accel_ef_blended to use the filtered accel. It is
not blended, and removing "_blended" from the API will be worthwhile
as a followup
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
4139b7a548
AP_AHRS: rename OpticalFlow class to AP_OpticalFlow
...
Brings us in-line with other classes in ArduPilot.
Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
2022-08-18 14:24:01 +10:00
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
Henry Wurzburg
a5b373e912
AP_AHRS: modify AHRS type check for compass-less setups
2022-08-09 11:02:24 +10:00
Iampete1
d423f483a6
AP_AHRS: params always use set method
2022-08-03 13:43:48 +01:00
Andrew Tridgell
0ededd7c62
AP_AHRS: use wind from simulation if available with EKF type 10
2022-08-02 07:49:34 +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
Henry Wurzburg
51a21679be
AP_AHRS: expand description of custom orientation parameters
2022-07-21 15:45:28 +01:00
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
