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
60d0b0f07c
AP_AHRS: add WARN_IF_UNUSED to some getters
2021-01-21 20:41:17 +11:00
Josh Henderson
62ff9a4d4b
AP_AHRS: move logging functions to AHRS
2021-01-12 10:13:22 +11:00
Andrew Tridgell
b73131cdbc
AP_AHRS: review fixes
2021-01-05 21:13:12 +11:00
Andrew Tridgell
9dbd2d3eba
AP_AHRS: expose active EKF type for logging
2021-01-05 21:13:12 +11:00
Paul Riseborough
3a0105fcc3
AP_AHRS: Add accessor function for body frame airspeed vector
2020-12-11 15:21:41 +11:00
Peter Barker
55cb3e8ef0
AP_AHRS: get airspeed sensor from singleton not AHRS object
2020-12-07 15:57:28 -08:00
Peter Barker
0fca126d06
AP_AHRS: mark get_hagl as WARN_IF_UNUSED
2020-12-07 12:10:33 +11:00
Randy Mackay
4b542aa714
AP_AHRS: add get_vel_innovations_and_variances_for_source
2020-11-20 16:43:44 +09:00
Randy Mackay
dc5d1d099b
AP_AHRS: add set_posvelyaw_source_set
2020-11-20 16:43:44 +09:00
Andrew Tridgell
1bc82d3118
AP_AHRS: removed have_ekf_logging()
2020-11-10 16:15:45 +11:00
Randy Mackay
6a72805f07
AP_AHRS: get_variances does not return offset
...
the offset is not a variance and is not actually used by any callers of this function
2020-10-21 08:58:45 +09:00
Peter Barker
99e95666e8
AP_AHRS: remove unused AP_AHRS_TYPE define
2020-10-18 09:41:29 +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
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
Andrew Tridgell
3f69f97d60
AP_AHRS: added get_accel() for lua access
2020-08-16 08:55:27 -07:00
Peter Barker
4e12f16608
AP_AHRS: provide accessor for synthetic airspeed
2020-08-04 23:12:03 +10:00
Peter Barker
ad435dcdbb
AP_AHRS: remove unused base-class airspeed_estimate method
2020-08-04 10:08:22 +10:00
Randy Mackay
d0a2198e00
AP_AHRS: expose EKF setTerrainHgtStable accessor
2020-06-24 21:16:50 +09:00
Andrew Tridgell
f896213770
AP_AHRS: drop rotate prefix on 2D rotates
2020-06-04 09:49:52 +10:00
Andrew Tridgell
7d520c8307
AP_AHRS: added body/earth frame ops for Lua
2020-06-04 09:49:52 +10:00
chobits
c9e363d529
AP_AHRS: support VISION_SPEED_ESTIMATE
2020-06-01 17:51:24 +09:00
Randy Mackay
762e82d49d
AP_AHRS: writeExtNavData accepts delay
2020-05-15 10:07:52 +09:00
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
Randy Mackay
79afc70cdb
AP_AHRS: remove writeExtNavData sensOffset argument
...
EKF pulls this directly from AP_VisualOdom
2020-04-14 10:28:03 +10:00
Randy Mackay
b0b78e974b
AP_AHRS: add get_quaternion
2020-04-09 19:41:08 +09:00
Randy Mackay
e1c623183e
AP_AHRS: minor comment fix and move var_info lower
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
Andrew Tridgell
393a8785f3
AP_AHRS: implement get_vibration method on AHRS
2020-03-12 08:36:40 +11:00
Peter Barker
14fce28e1b
AP_AHRS: move EKF objects in; this requires unconsting some methods
2020-01-21 11:53:18 +11:00
Andrew Tridgell
3b95b5e692
AP_AHRS: make all semaphores recursive
...
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
2020-01-19 20:19:30 +11:00
Peter Hall
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
Peter Hall
775e4c90da
AP_AHRS: remove flying time and bool
2020-01-14 22:34:37 -07:00
Randy Mackay
4a1247b9f7
AP_AHRS: add get_innovations
2019-10-18 11:15:25 +09:00
Randy Mackay
32e25d8b57
AP_AHRS: add accessor for roll, pitch and yaw
2019-07-12 13:57:28 +09:00
Peter Barker
2bcaaf5aaf
AP_AHRS: remove handling of beacon
2019-07-01 07:20:58 +09:00
Michael du Breuil
1226eb825a
AP_AHRS: Reduce scope of AP_Baro.h
2019-06-27 14:56:21 +10:00
Michael du Breuil
0a7cf77de4
AP_AHRS: Update function descriptions in header
2019-06-18 00:06:32 -07:00
Michael du Breuil
4aa33bec49
AP_AHRS: Remove AP_GPS.h from AP_AHRS.h
2019-06-18 10:02:05 +10:00
Andrew Tridgell
99316a191c
AP_AHRS: added check_lane_switch()
2019-06-12 09:52:20 +10:00
Peter Barker
697b8f6b53
AP_AHRS: take EAS2TAS directly from Baro (rather than via airspeed)
2019-06-06 12:44:36 +10:00
Francisco Ferreira
869a369cc0
AP_AHRS: support NMEA output
2019-05-21 09:41:15 +10:00
Andrew Tridgell
11ceacfdb6
AP_AHRS: removed unusued AP_Common/Semaphore.h
2019-05-15 15:33:48 +10:00
Michael du Breuil
334b1622e1
AP_AHRS: Allow checking all EKF cores for health
2019-04-09 10:53:25 +10:00
Pierre Kancir
701c5dd4c0
AP_AHRS: move location_update to Location and rename to offset_bearing
2019-04-06 09:10:28 +11:00
Andrew Tridgell
6622a4579e
AP_AHRS: fixed warning on WARN_IF_UNUSED
2019-03-19 12:10:07 +11:00
Michael du Breuil
2ed1757353
AP_AHRS: Remove unused uptime
2019-03-19 11:42:54 +11:00
Michael du Breuil
c7c8c2a7c5
AP_AHRS: Tag a lot of the accessors as WARN_IF_UNUSED
2019-03-19 11:42:54 +11:00
Mark Whitehorn
e71eae7d3b
AP_AHRS: add new method get_quat_body_to_ned()
2019-03-19 10:46:25 +11:00
Michael du Breuil
0bf2fc004e
AP_AHRS: Warn if the return value on (get, set)_origin is not checked
2019-03-12 08:27:42 +09:00
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
Peter Barker
63e894e7e1
AP_AHRS: rename set_orientation to update_orientation
...
set_ should be reserved for setters
2019-02-26 10:28:09 +11:00
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
Peter Barker
2e403bfd52
AP_AHRS: make setting of home boolean in preparation for sanity checks
2019-02-15 08:28:45 +11:00
ChrisBird
532431c284
AP_AHRS: Added get_max_wind to make it available for use in determining if the airspeed sensor is faulty.
2019-02-03 08:25:46 -08:00
Pierre Kancir
3b96794fb5
AP_AHRS: remove useless virtual qualifier
2018-12-22 08:31:32 +09:00
Pierre Kancir
d87853d93e
AP_AHRS: pass vector by const reference
2018-12-22 08:31:32 +09:00
Andrew Tridgell
33b26da2eb
AP_AHRS: small cleanups
...
always pass the pitch trim, and removed unusued variables
2018-11-12 17:05:04 +11:00
IamPete1
e1cdf9fe0a
AP_AHRS: add trimed view
2018-11-12 17:05:04 +11:00
Andrew Tridgell
9897bf6127
AP_AHRS: support locked access to AHRS data
2018-08-25 15:44:36 +10:00
Andrew Tridgell
1056e64419
AP_AHRS: added get_DCM_rotation_body_to_ned()
...
this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
2018-07-18 16:07:19 +10:00
Peter Barker
4d944da530
AP_AHRS: add a singleton-getter cast into AP_AHRS_NavEKF
...
This will allow libraries which absolutely require the EKF to easily get
a cast copy of the singleton.
2018-06-01 16:12:45 +01:00
Peter Barker
3cbb88ae20
AP_AHRS: split home-set and home-locked state
2018-05-29 14:38:45 +10:00
Peter Barker
9793703a76
AP_AHRS: move Log_Write_Home_And_Origin into AP_AHRS
2018-05-17 10:13:42 +10:00
Jacob Walser
74be9f0bda
AP_AHRS: Add support for custom board orientations
2018-04-24 13:04:37 +01:00
Peter Barker
355752ebb8
AP_AHRS: remove pointless initialisations
...
These are either in bss or new'd.
Saves ~130 bytes
2018-04-04 10:14:40 +01:00
Peter Barker
2a274675f6
AP_AHRS: narrow enumeration to uint8_t to avoid narrowing-warnings
2018-04-02 14:12:09 +09:00
Peter Barker
20412dc0db
AP_AHRS: accept external position estimates into AHRS
2018-03-27 20:27:59 +09:00
Peter Barker
3a5807ae56
AP_AHRS: move home_status into AP_AHRS
...
Storing home in the AHRS object but not its state is clearly evil.
Fix that.
2018-03-19 10:32:37 +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
dc30197ca7
AP_AHRS: add AP::ahrs() singleton
2018-03-07 12:34:39 +00:00
Andrew Tridgell
0b5e3936fe
AP_AHRS: added earth to body 2D rotations
2018-02-08 17:36:33 +11:00
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
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
Dr.-Ing. Amilcar Do Carmo Lucas
0ecb14361d
AP_AHRS: NFC spell in comments
2017-11-27 23:13:34 +09:00
Andrew Tridgell
770f697cfc
AP_AHRS: added set/get for flying state
...
this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
2017-06-20 09:44:44 +10:00
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
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
Randy Mackay
d3aca5544e
AP_AHRS: get_gyro_latest returns latest rates from IMU with drift correction
...
Pulling the gyro values from the IMU allows our rate controllers to run before the EKF
2017-03-03 13:14:28 +11:00
Peter Barker
24647fb2b0
AP_AHRS: make get_relative_position_D_home pure virtual
...
Having a void function with a return parameter that isn't
filled in by the base class function seems like a bad idea
2017-02-24 21:13:08 +11:00
Jacob Walser
8c87868b5c
AP_AHRS: Add submarine vehicle class
2017-02-21 11:26:14 +11:00
Andrew Tridgell
c62c64d27b
AP_AHRS: added support for AP_AHRS_View
2017-02-18 17:26:43 +11:00
Michael du Breuil
3274f1dbb1
AP_AHRS: Split all NED methods into a collection of NED relative to home vs origin
2017-02-13 09:23:14 +11:00
priseborough
b4961971e0
AP_AHRS: add beacon object to ahrs
2016-11-30 17:56:42 +09:00
Randy Mackay
c615bac1cd
AP_AHRS: add getLastPosDownReset accessor
2016-11-24 19:57:53 +09:00
murata
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Jonathan Challinger
25a14fe0dc
AP_AHRS: add interface to retrieve corrected delta velocities in NED frame
2016-10-14 10:45:58 +09:00
Jonathan Challinger
e20687fbce
AP_AHRS: cache trim rotation
2016-10-13 10:02:14 +11:00
Jonathan Challinger
a03fa2d3cf
AP_AHRS: use exact matrix for trim rotations
2016-10-13 10:02:13 +11:00
floaledm
27e977289a
AP_AHRS: add the get_variances method found in AP_AHRS_NavEKF to AP_AHRS
2016-09-27 09:20:32 -07:00
Andrew Tridgell
334db0a1a5
AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index()
2016-09-05 12:56:36 +10:00
priseborough
5454f76702
AP_AHRS: Add separate interfaces for local horizontal and vertical position
2016-07-19 12:16:49 +10:00
Andrew Tridgell
a6cbc5d4a5
AP_AHRS: use EKF for groundspeed estimate if available
2016-05-31 15:56:25 +10:00
Andrew Tridgell
795080742e
AP_AHRS: added have_ekf_logging() API
2016-05-07 18:27:19 +10:00
Lucas De Marchi
e0153faa85
AP_AHRS: replace header guard with pragma once
2016-03-16 18:40:40 +11:00
Jonathan Challinger
cbf2309023
AP_AHRS: add get_mag_field_NED and get_mag_field_correction
2016-01-23 10:35:36 +09:00
Andrew Tridgell
f8b52c6a67
AP_AHRS: try to start EKF2 slightly before EKF2
...
this gives priority to EKF2 on memory
2016-01-07 08:34:32 +11:00
Jonathan Challinger
6682b27456
AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned
2015-12-18 18:08:37 +11:00
Julien BERAUD
924a94633d
AP_AHRS: Fix build
...
Due to interdependancy between optical flow and AHRS, it is not possible
to include full class definition which rely on each other
2015-12-18 17:56:06 +11:00
Lucas De Marchi
124937ab61
AP_AHRS: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:11 +11:00
Randy Mackay
4e959ef6f9
AP_AHRS: constify getLastPosNorthEastReset
...
Also constify getLastVelNortEastReset
2015-10-30 12:24:13 +09:00
Randy Mackay
7c20577ee0
AP_AHRS: constify getLastYawResetAngle
2015-10-30 12:24:10 +09:00
Paul Riseborough
f67f6b01f4
AP_AHRS: Publish the EKF position and velocity reset deltas
2015-10-30 12:24:05 +09:00
Caio Marcelo de Oliveira Filho
f7c73fbb13
AP_AHRS: remove AHRS_EKF_USE_ALWAYS define
...
This option now is passed when instantiating the code in ArduCopter, so
selecting the default value at compile time is not necessary anymore.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:11 +11:00
Caio Marcelo de Oliveira Filho
e87db31149
AP_AHRS: remove unused define
...
AHRS_EKF_USE_DEFAULT is not used since commit
7ba45444a2
"AP_AHRS: added selection of
EKF type using AHRS_EKF_TYPE".
2015-10-21 11:01:10 +11:00
Randy Mackay
9f59b6f7b5
AP_AHRS: getLastYawResetAngle returns reset time
2015-09-24 16:57:41 +09:00
Andrew Tridgell
dde8330077
AP_AHRS: rename using_EKF to active_EKF_type()
...
thanks to Randy for the suggestion
2015-09-23 17:53:44 +10:00
Andrew Tridgell
f9348887c5
AP_AHRS: added getLastYawResetAngle() and resetHeightDatum()
2015-09-23 17:46:51 +10:00
Andrew Tridgell
0677c2c80c
AP_AHRS: run astyle for formatting
2015-09-23 17:31:00 +10:00
Andrew Tridgell
7ba45444a2
AP_AHRS: added selection of EKF type using AHRS_EKF_TYPE
2015-09-23 11:57:18 +10:00
Andrew Tridgell
c18c6d894e
AP_AHRS: added prearm_failure_reason()
2015-09-08 15:50:22 +10:00
Lucas De Marchi
b43bddc0af
AP_AHRS: standardize inclusion of libaries headers
...
Do the missing header changes due to changing the code before the pr
getting accepted.
2015-08-18 17:12:51 +10:00
Gustavo Jose de Sousa
54d5277842
AP_AHRS: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:42 +10:00
Andrew Tridgell
b61f7fa2f6
AP_AHRS: enable EKF by default on plane
...
now we have arming checks enabled by default I think this is the best
choice
2015-05-23 17:17:44 +10:00
Andrew Tridgell
7a76f72bf5
AP_AHRS: added uptime_ms() interface
2015-05-20 15:22:14 +10:00
Paul Riseborough
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
2015-05-13 16:11:13 +09:00
Andrew Tridgell
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
2015-04-28 14:07:39 +10:00
Randy Mackay
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
2015-04-21 22:42:17 +09:00
Randy Mackay
98efcd5f03
AHRS: always use EKF for copter
2015-03-19 15:15:51 +09:00
Jonathan Challinger
f92c711d14
AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use
2015-03-16 09:14:03 +11:00
Jonathan Challinger
180c85817d
AP_AHRS: remove armed state, use hal.util soft_armed state
2015-02-11 20:25:11 +11:00
Andrew Tridgell
68f64fa11c
AP_AHRS: make the healthy() method const
2015-02-01 14:13:52 +11:00
Andrew Tridgell
ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
2015-01-20 11:27:58 +11:00
Andrew Tridgell
b499cd1b59
AP_AHRS: fixed examples build
...
using a relative include works as the object is just passed through,
not used, in this header
2015-01-05 07:04:27 +11:00
Andrew Tridgell
70c2aeca42
AP_AHRS: make optflow available via AHRS
...
same pattern as compass and airspeed sensor
2015-01-03 14:16:34 +11:00
Jonathan Challinger
033ee3c900
AP_AHRS: Add get_accel_ef_blended function
2014-12-05 19:40:04 +09:00
Randy Mackay
9e731550fd
AHRS: default EKF on for copter
2014-12-01 17:29:39 +09:00
Randy Mackay
dffcfb42bc
AHRS: add reset_gyro_drift method
2014-10-28 20:25:33 +09:00
Randy Mackay
39c8535223
AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P
2014-10-21 21:41:41 +09:00
Andrew Tridgell
270bac4472
AP_AHRS: make get_position() const
...
This allows use from within AP_Mission
2014-10-20 08:36:20 +11:00
Andrew Tridgell
4ad643b233
AP_AHRS: use a common function for updating the CD values
...
this ensures the wrapping of yaw is consistent between the 3 use cases
2014-10-15 13:18:08 +11:00
Andrew Tridgell
809b6cc855
AP_AHRS: added get_yaw_rate_earth()
...
used to estimate course correction on takeoff
2014-10-07 07:17:46 +11:00
Randy Mackay
85eee31510
AHRS: rename ekfNotStarted method to initialised
...
Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
2014-10-02 14:40:54 +09:00
priseborough
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
2014-10-02 14:38:29 +09:00
Randy Mackay
d23b685023
AP_AHRS: add empty virtual destructor
2014-07-16 14:56:54 +09:00
Randy Mackay
1f2e38ed28
AHRS: initalise members to reduce compiler warnings
2014-07-16 14:38:26 +09:00
Andrew Tridgell
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
...
this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
2014-07-13 21:56:39 +10:00
Andrew Tridgell
1a05c27bbb
AP_AHRS: added healthy() function
...
this will be used to report when the AHRS subsystem becomes unhealthy
2014-05-15 21:14:21 +10:00
Andrew Tridgell
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
...
used by EKF to control use of get_fly_forward()
2014-04-21 18:13:12 +10:00