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681 Commits

Author SHA1 Message Date
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
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 c3bf090815 AP_AHRS: rangefinder no longer takes SerialManager in constructor 2019-07-16 09:29:48 +10:00