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201 Commits

Author SHA1 Message Date
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
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 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 358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker 55cb3e8ef0 AP_AHRS: get airspeed sensor from singleton not AHRS object 2020-12-07 15:57:28 -08:00
Andrew Tridgell dab091a801 AP_AHRS: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +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
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
Peter Barker e55057ad5d AP_AHRS_DCM: limit measured airspeed according to WIND_MAX 2020-08-15 18:14:05 +10:00
Randy Mackay b0b78e974b AP_AHRS: add get_quaternion 2020-04-09 19:41:08 +09:00
Peter Hall f6897632f8 AP_AHRS: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Randy Mackay fb38db6640 AP_AHRS: resolve compile warning in AP_AHRS_DCM::use_compass 2019-09-05 08:39:10 +10:00
Andrew Tridgell 3dd7e7e83a AP_AHRS: only use enabled IMUs in DCM 
honor the INS_USE parameters for DCM
 2019-07-07 19:03:01 +10:00
Michael du Breuil 1226eb825a AP_AHRS: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil 4aa33bec49 AP_AHRS: Remove AP_GPS.h from AP_AHRS.h 2019-06-18 10:02:05 +10:00
Andrew Tridgell 670015b30e AP_AHRS: added const for PersistentData 2019-05-15 15:33:48 +10:00
Andrew Tridgell 74e56ab8cc AP_AHRS: use new persistent_data interface 2019-05-15 15:33:48 +10:00
Andrew Tridgell f7026b854e AP_AHRS: added save/restore of attitude in backup registers 2019-04-22 16:53:35 +10:00
Andrew Tridgell b8605c9ee6 AP_AHRS: save/restore home to backup registers 
restore on watchdog reset

# Conflicts:
#	libraries/AP_AHRS/AP_AHRS_DCM.cpp
 2019-04-22 16:53:35 +10:00
Pierre Kancir 54bc960ca3 AP_AHRS: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Pierre Kancir 701c5dd4c0 AP_AHRS: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Tom Pittenger a577223ac6 AP_AHRS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Andrew Tridgell 2ffded4dd7 AP_AHRS: implement get_velocity_NED() for DCM 2019-03-19 14:39:04 +11:00
Michael du Breuil 2ed1757353 AP_AHRS: Remove unused uptime 2019-03-19 11:42:54 +11:00
Peter Barker 3889c91974 AP_AHRS: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 44ab1cf14b AP_AHRS: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Peter Barker 6fd687e861 AP_AHRS: retry sending home/origin if it fails 2019-02-26 14:01:41 +11:00
Peter Barker 3959780999 AP_AHRS: ensure home is always stored in ALT_FRAME_ABSOLUTE 2019-02-26 10:35:39 +11:00
Peter Barker ab9c084179 AP_AHRS: add sanity checks for home location being set 2019-02-15 08:28:45 +11:00
Peter Barker 2e403bfd52 AP_AHRS: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker b416bc603e AP_AHRS_DCM: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Andrew Tridgell 09dde518df AP_AHRS: fixed dead-reckoning groundspeed vector 
this is essential for RTL in planes on GPS loss
 2018-11-19 07:32:20 +11:00
Michael du Breuil 4852562ec7 AP_AHRS: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Peter Barker e29dbbf158 AP_AHRS: notify and log home changes 2018-10-16 10:55:13 +11:00
Andrew Tridgell de02cb9c8b AP_AHRS: fixed synthetic airspeed to be along +ve X axis 
this prevents us from thinking we have +ve airspeed when flying
backwards with no pitot tube
 2018-09-14 19:28:29 +10:00
Andrew Tridgell 9897bf6127 AP_AHRS: support locked access to AHRS data 2018-08-25 15:44:36 +10:00
Andrew Tridgell 5b0b9ef962 AP_AHRS: don't do yaw correction in DCM while calibrating compass 
this avoids applying bad compass yaw, and helps the compass
calibration code
 2018-07-18 16:07:19 +10:00
Peter Barker 3cbb88ae20 AP_AHRS: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
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 e15442355a AP_AHRS: use GPS singleton 2017-12-27 00:58:02 +00:00
khancyr 2732226664 AP_AHRS: use direct assignation and correct some style 2017-12-18 22:43:59 +00:00
khancyr dae636b39e AP_AHRS: correct some constcorrectness 2017-12-18 22:43:59 +00:00
Andrew Tridgell 1f9a3dd1bd AP_AHRS: improved init attitdue in DCM 
this tries harder to get a good IMU sample for the initial attitude
estimate. I have seen cases of bad IMU data on startup and this makes it
much less likely
 2017-12-12 11:39:38 +11:00
priseborough fa5534502a AP_AHRS: Update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00