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883 Commits

Author SHA1 Message Date
Peter Barker a933652950 AP_AHRS: return perfect airspeed estimate for EKF-type 10 
... rather than the EKF3 estimate
 2021-08-25 18:28:12 +10:00
Peter Barker e2722c8e12 AP_AHRS: move active_accel_instance into DCM private header section 2021-08-24 10:23:36 +10:00
Peter Barker d6c7c59199 AP_AHRS: remove custom_rotation matrix to frontend 
Only one of these per vehicle
 2021-08-24 10:23:36 +10:00
Peter Barker 645a5302d0 AP_AHRS: move DCM parameters into DCM header 2021-08-24 10:23:36 +10:00
Peter Barker 74709c6292 AP_AHRS: move groundspeed vector up to AP_AHRS_DCM 
The other estimators all have their own implementation of this
 2021-08-24 10:23:36 +10:00
Peter Barker 8169910866 AP_AHRS: move frontend parameters up / DCM parameters down 2021-08-24 10:23:36 +10:00
Andrew Tridgell 53e7436525 AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-19 14:42:28 +10:00
Peter Barker 5d49d29c27 AP_AHRS: move wind-estimation-enabled state to frontend 2021-08-18 18:37:39 +10:00
Peter Barker 8daa0a099c AP_AHRS: rename yaw_initialised access method to dcm_yaw_initialised 
This is what it really means.

Also put the relevant state within the DCM object
 2021-08-18 18:37:39 +10:00
Peter Barker 608608f32f AP_AHRS: internalise application of correct_centrifugal 
This is a DCM-only option but that's not clear with the interface.
Internalise the variable and base it off build type.
 2021-08-17 10:36:46 +10:00
Peter Barker 1cfd9f57ce AP_AHRS: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Peter Barker 29aed55a74 AP_AHRS: remove pointless zeroing of gyro_estimate vector 
This value is assigned to in the following "if" block in both the for
and against cases, and isn't used to determine the new value.
 2021-08-12 08:52:24 +10:00
Peter Barker 73bad9fd2d AP_AHRS: move fly_forward flag to front end 
This same flag is requested by the DAL so AN_NavEKF2 and AP_NavEKF3 can
use it in their estimates - so AP_AHRS_DCM accessing it via the same
mechanism is not out-of-shape
 2021-08-11 15:36:22 -07:00
Peter Barker e9c56a2b0a AP_AHRS: move takeoff/touchdown flags to frontend 2021-08-11 18:45:34 +10:00
Peter Barker ecd488b3c3 AP_AHRS: move trim-related functionality to front end 2021-08-10 09:41:19 +10:00
Peter Barker 7f4a4a99d6 AP_AHRS: move home and origin methods to frontend 2021-08-05 10:37:47 +10:00
bugobliterator 62b6350af1 AP_AHRS: use typename SIM instead of SITL as it conflicts with namespace name 2021-08-05 07:25:31 +10:00
bugobliterator 114d7b22f4 AP_AHRS: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Peter Barker 107e647d00 AP_AHRS: correct compilation under SITL with no EKF3 2021-08-04 18:15:55 +10:00
Andrew Tridgell 5dab362286 AP_AHRS: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Peter Barker 383807e334 AP_AHRS: move AOA state to private in frontend 
AP_AHRS: make update_AOA_SSA non-virtual
 2021-08-02 20:55:04 +10:00
Peter Barker d131cf01d3 AP_AHRS: use compass reference rather than pointer 2021-07-30 17:37:08 +10:00
Peter Barker ca58aa9c5f AP_AHRS: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker e4bceb2417 AP_AHRS: move AOA/SSA to AP_AHRS, don't recalc on fetch 2021-07-30 11:23:06 +10:00
Iampete1 9cceb2d5c1 AP_AHRS: update orientation param values 2021-07-28 18:09:05 +10:00
Peter Barker f557d41145 AP_AHRS: rotate quaternions into vehicle body frame 
DCM was having it both ways depending on whether it was
primary/secondary.

These are mostly uses for reporting, in which case you would expect the
quaternion to match the eulers.
 2021-07-28 17:20:28 +10:00
Peter Barker 5160b4f6ca AP_AHRS: move AP_NMEA_Output to AHRS frontend 2021-07-27 16:55:35 +10:00
Peter Barker 88d49effe7 AP_AHRS: move variable init into variable declaration 2021-07-23 09:55:14 +10:00
Peter Barker 15e5831002 AP_AHRS: remove unused get_expected_mag_field method 
there's get_mag_field_NED on AP_AHRS....
 2021-07-23 09:55:14 +10:00
Peter Barker 5b372dae06 AP_AHRS: stop storing gyro drift rate as variable 
This is constant and is just folded into whereever it is used.
 2021-07-23 09:55:14 +10:00
Peter Barker a4d98a457b AP_AHRS: move init of dcm state into variable declarations 2021-07-23 09:55:14 +10:00
Peter Barker 4f9201a160 AP_AHRS: move parameters back into AP_AHRS.h 
metadata collection kind of dies otherwise
 2021-07-22 21:21:40 +10:00
Peter Barker d351b7c7dc AP_AHRS: fix includes for moved files 2021-07-22 21:21:40 +10:00
Peter Barker b7d4166b28 AP_AHRS: rename AP_AHRS_NavEKF.* to AP_AHRS.* 2021-07-22 21:21:40 +10:00
Peter Barker 97b394a5ef AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.* 2021-07-22 21:21:40 +10:00
Paul Riseborough 8f1b98a0cb AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-22 18:20:45 +10:00
Peter Barker a6a18fe193 AP_AHRS: punt to correct parent class when no index for getCorrectedDeltaVelocityNED 2021-07-21 21:01:39 +10:00
Peter Barker b450a96698 AP_AHRS: shuffle AP_AHRS classes 2021-07-21 21:01:39 +10:00
Peter Barker 0d391533b0 AP_AHRS: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker 141e2aae91 AP_AHRS: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Peter Barker a92fc7845c AP_AHRS: remove unused active_accel_instance 
Not a great member function as only DCM updates this
 2021-07-20 20:37:40 +10:00
Peter Barker b185d84dc5 AP_AHRS: remove unused _gps_delay variable 2021-07-20 15:24:45 +09:00
Peter Barker dc5656d34a AP_AHRS: remove accessors only used internally 2021-07-20 12:38:57 +10:00
CallanDaniel 396a27b17e AP_AHRS: add semaphore around set_origin 
added semaphore around set_origin() to prevent thread racing
 2021-07-08 11:54:37 +09:00
Andrew Tridgell cd3ac639fe AP_AHRS: added AHRS_GPS_USE=2 for no baro 
this allows DCM to use the GPS instead of the baro for height
 2021-07-08 07:56:51 +10:00
CallanDaniel 76f5db93dc AP_AHRS: add semaphore around set_home() 
added semaphore around set_home() to avoid thread racing
 2021-06-23 10:11:02 +09:00
Peter Barker ee0a373b60 AP_AHRS: remove HIL support 2021-06-15 09:47:31 +10:00
Pierre Kancir d2278fb525 AP_AHRS: NavEKF: make set_origin and get_origin WARN_IF_UNUSED as base class 2021-06-12 00:01:23 +10:00
Randy Mackay ab5d4da776 AP_AHRS: attitudes_consistent fix for roll-pitch difference calc 
previously yaw difference would appear as roll, pitch differrences
 2021-06-08 12:55:17 +09:00
Peter Barker 9eeec61cec AP_AHRS: new APIs for takeoff/touchdown expected 
timeout handling now in AP_AHRS, and state stored in AHRS and
requested by AP_DAL
 2021-06-02 11:13:16 +09:00
Peter Barker e141578376 AP_AHRS: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Peter Barker 28bbe4b776 AP_AHRS: remove unused AP_Beacon.h include 2021-05-30 10:44:42 +10:00
Leonard Hall bddf6602f0 AP_AHRS: PosControl fixes 2021-05-24 20:13:37 +10:00
murata fcba2a6e69 AP_AHRS: Remove unused methods 2021-05-18 10:06:53 +10:00
Peter Barker 52a4ac028c AP_AHRS: remove duplicate log metadata fields 2021-04-27 16:38:40 +10:00
Hwurzburg cf41548ce1 AP_AHRS: expand RATE log message description 2021-04-27 12:32:44 +10:00
Peter Barker ea1884f491 AP_AHRS: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Paul Riseborough 9b53d505ea AP_AHRS: Handle airspeed estimation with have_inertial_nav() == false 2021-03-05 12:10:01 +11:00
Paul Riseborough aa49e92edc AP_AHRS: Remove unused AP_AHRS_NavEKF::yaw_alignment_complete API 2021-03-05 12:10:01 +11:00
Paul Riseborough 1a3258a039 AP_AHRS: Fall back to DCM airspeed estimate if EKF velocity not available 2021-03-05 12:10:01 +11:00
Paul Riseborough ec401083bf AP_AHRS: Remove unused variable 2021-03-05 12:10:01 +11:00
Paul Riseborough af2bf6097b AP_AHRS: Add accessor function for EKF3 yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough a0faa55ef5 AP_AHRS: Fix rebase build error 2021-03-05 12:10:01 +11:00
Andrew Tridgell 6d6ec44d59 AP_AHRS: fixed build on boards without EKF2 2021-03-05 12:10:01 +11:00
Paul Riseborough d1d790019c AP_AHRS: Improve use of estimated airspeed 
Enable default airspeed variance to be specified externally to the EKF
Enable use of EKF airspeed estimates
 2021-03-05 12:10:01 +11:00
Pierre Kancir 77367c1376 AP_AHRS: fix example 2021-03-03 18:07:38 +11:00
Randy Mackay 62932f884f AP_AHRS: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Peter Barker 358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker 60d0b0f07c AP_AHRS: add WARN_IF_UNUSED to some getters 2021-01-21 20:41:17 +11:00
Andrew Tridgell 1ce77111e5 AP_AHRS: allow override of default EKF type 2021-01-20 10:06:45 +11:00
Randy Mackay 0cc9fd2b5d AP_AHRS_NavEKF: get_secondary_quat and position may return EKF3 value 2021-01-16 08:24:23 +09:00
Randy Mackay 1b3ad9cd8d AP_AHRS: use ekf3 by default 2021-01-16 08:24:23 +09:00
Peter Barker 9099a9b622 AP_AHRS: correct names for active EKF type 2021-01-12 10:23:08 +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 4e33b74d69 AP_AHRS: call external AHRS update 2021-01-05 21:13:12 +11:00
Andrew Tridgell b5b9b57c9e AP_AHRS: added external AHRS mavlink status 2021-01-05 21:13:12 +11:00
Andrew Tridgell 75ad1a7d31 AP_AHRS: send a text msg when active EKF changes 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
Andrew Tridgell e284c5694d AP_AHRS: added AHRS_EKF_TYPE=11 for external AHRS 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 ca41a19072 AP_AHRS: AHRS itself must also be healthy to arm, not just the "backend" 2020-12-11 09:55:40 +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
Andrew Tridgell 0a80fce8b8 AP_AHRS: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Randy Mackay 8c2688605e AP_AHRS: active_EKF_type fallback to DCM checks if GPS configured for use 2020-11-25 21:00:07 +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 cb830dcc11 AP_AHRS: added comment from review 2020-11-10 16:15:45 +11:00
Andrew Tridgell dab091a801 AP_AHRS: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1bc82d3118 AP_AHRS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell 9b35bfba55 AP_AHRS: use enum class for takeoff/touchdown states 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 31fbb59384 AP_AHRS: delay EKF start until logging ready 
for replay to work reliably we need all the parameters output before
we init the EKF.

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Peter Barker 814aa4e5ec AP_AHRS: take secondary attitude from EKF3 if it is configured 2020-11-10 10:59:08 +11:00
Iampete1 d7e8ad1c13 AP_AHRS: add ARSPD_OPTION note to WIND_MAX 2020-10-27 11:21:04 +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 d4cb14b262 AP_AHRS: remove magic resetting of EKF type 1 to 2 
If EKF2 is not compiled in the current compatability code will not work
so well.

Throw the user over to the config error loop and they can fix it there.
 2020-10-20 11:32:57 +11:00
Peter Barker 565b29a72c AP_AHRS: remove FLAG_NONE; it's not a flag, it's a bitmask value 2020-10-20 11:24:34 +11:00
Peter Barker 1ef92bb691 AP_AHRS: remove un-needed initialisations 2020-10-20 11:24:34 +11:00
Peter Barker 9d45669a58 AP_AHRS: reuse ins object for multiple calls, simplify delta_t variable 2020-10-20 11:24:34 +11:00
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
Andrew Tridgell a4e7c72635 AP_AHRS: removed duplicate implementation of airspeed_estimate() 2020-08-27 20:20:51 +10:00
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 e5e092d077 AP_AHRS: check EKF status for having horizontal position estimate 
this will allow a fixed wing to fall back to DCM if the EKF stops
providing an absolute position while we have 3D GPS lock. The
using_gps flag is not enough, as lagged GPS data can lead to the EKF
stopping fusing when the data is behind the fusion time horizon. In
that case EKF3 gives using_gps=1 but sets horiz_pos_abs=0
 2020-08-25 10:22:05 +10:00
Andrew Tridgell 3f69f97d60 AP_AHRS: added get_accel() for lua access 2020-08-16 08:55:27 -07:00
Peter Barker e55057ad5d AP_AHRS_DCM: limit measured airspeed according to WIND_MAX 2020-08-15 18:14:05 +10:00
Peter Barker 37340b846d AP_AHRS: correct includes 2020-08-07 19:20:07 +10:00
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
Andrew Tridgell d0d7a46492 AP_AHRS: fixed SITL origin handling 
we need to keep origin and home separate for AHRS_EKF_TYPE=10. This
caused issues with resets in RealFlight leading to the plane not
descending
 2020-07-10 10:08:51 +09:00
Randy Mackay d0a2198e00 AP_AHRS: expose EKF setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Randy Mackay 839e03f3e4 AP_AHRS: attitudes_consistent obeys always_use_EKF 2020-06-16 11:29:24 +10:00
Peter Barker 8c0aed9c6c AP_AHRS: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
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
Randy Mackay cad9889656 AP_AHRS: send vision-speed-estimates to EKF3 2020-06-02 08:33:42 +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
priseborough 471372cc7f AP_AHRS: Write external nav data to EKF3 2020-04-30 15:55:59 +09:00
Peter Barker 36fd632a49 AP_AHRS: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +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 2ae31f9d76 AP_AHRS: get_position obeys always_use_EKF 
Co-Authored-By: WickedShell <Wicked.Shell.Scripts@gmail.com>
 2020-04-28 09:20:05 +09:00
Randy Mackay 585c806618 AP_AHRS: add get_primary_core_index 2020-04-24 18:18:05 +09:00
Paul Riseborough a66479104d AP_AHRS: fix failure to arm when not using compass for yaw 2020-04-24 09:43:23 +10:00
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
Andrew Tridgell 83ad1c17a8 AP_AHRS: disable DCM yaw consistency check when using external yaw 
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
 2020-04-11 21:14:31 +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 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
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
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 968d8cf7d9 AP_AHRS_NavEKF: canonicalise use of get_active_NavEKF result 
Some places had a default case, many didn't.
 2020-01-14 11:58:11 +11:00
Peter Barker 7a5b8136ad AP_AHRS_NavEKF: inform all running EKFs that takeoff or touchdown is expected 
Several other methods in here poke both EKFs like this.
 2020-01-07 11:06:36 +11:00
Peter Barker a608e9f7d7 AP_AHRS: NavEKF constructors no longer take rangefinder 2019-12-11 08:09:01 +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
vierfuffzig 2af0be3947 AP_AHRS: fix custom orientation ToRad conversion 2019-10-01 09:35:09 +10:00
Randy Mackay fb38db6640 AP_AHRS: resolve compile warning in AP_AHRS_DCM::use_compass 2019-09-05 08:39:10 +10:00
Peter Barker 98eca63201 AP_AHRS: var_info is now in GCS_MAVLINK_Parameters 2019-08-14 18:25:43 +10:00