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297 Commits

Author SHA1 Message Date
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
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 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
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
Peter Barker 5a1d4f3bf5 AP_AHRS: update rotation based on board_orient parameter 2022-06-12 17:32:11 +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
Peter Barker 7ad9609fb7 AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +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
Peter Barker 9229fb6f9d AP_AHRS: add alias get_position to get_location 2022-02-18 21:23:06 +11:00
Andrew Tridgell 01ac314837 AP_AHRS: use EKF rejecting_airspeed flag 
stop using airspeed sensor when EKF is rejecting the sensor
 2022-02-07 14:13:49 +11:00
RuffaloVM bb1bd69172 AP_AHRS : remove duplicated words from comments 2022-02-04 08:36:35 +00:00
Peter Barker 5528159f31 AP_AHRS: add WARN_IF_UNUSED to several methods 2022-02-02 19:32:47 +11:00
Randy Mackay 9126e14c9c AP_AHRS: getOptFlowSample returns latest correct flow data for use in calibration 2022-01-29 08:26:12 +09:00
Peter Barker bd069cc5e9 AP_AHRS: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library 2022-01-25 10:59:17 +11:00
Peter Barker ff63b62b0c AP_AHRS: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Peter Barker a31ff08f23 AP_AHRS: create and use AP_AHRS_SIM_ENABLED 2022-01-17 19:12:56 +11:00
Iampete1 efb04e7f30 AP_AHRS: add video stab log message 2022-01-05 19:56:03 +11:00
Andrew Tridgell 304b7df8c2 AP_AHRS: make the EKF accel bias accessible 
needed for fixed wing yaw damper
 2021-12-07 17:05:54 +11:00
Peter Barker 66d8be825f AP_Logger: move LogOriginType into AP_AHRS 
only used to log the origins by the AHRS library
 2021-12-07 11:31:44 +11:00
Peter Barker 1dd34d87e7 AP_AHRS: move LogOriginType into AP_AHRS 
only used to log the origins by the AHRS library
 2021-12-07 11:31:44 +11:00
Andrew Tridgell bdf903b862 AP_AHRS: add accessor for GSF yaw estimator 2021-11-01 09:00:27 +11:00
Peter Barker 44d56854be AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend 2021-10-06 19:10:36 +11:00
Andrew Tridgell 3715ce6d1a AP_AHRS: allow setting of AHRS_TRIM_Z 2021-09-17 14:07:14 +10:00
Andrew Tridgell 3f043dd933 AP_AHRS: added get_view_rotation() 2021-09-17 14:07:14 +10:00
Peter Barker 9dbd9d1e06 AP_AHRS: call INS update in AP_AHRS::update w/o holding data sem 
We shouldn't be holding the data semaphore while waiting for the samples
- lots of things might be unnecessarily blocked

DCM's update function doesn't need to take the semaphore as it is
already taken by AP_AHRS
 2021-08-31 14:28:53 +10:00
Peter Barker cc514af158 AP_AHRS: eliminate AP::ahrs().get_location 2021-08-31 09:47:31 +10:00
Randy Mackay 1c08866342 AP_AHRS: add using_extnav_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay e7be608a4a AP_AHRS: rename is_ext_nav_used_for_yaw to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Peter Barker 0792caab83 AP_AHRS: factor out an update_notify_from_filter_status 2021-08-28 23:11:09 +10:00
Peter Barker ca6d214bb3 AP_AHRS: remove unused getGpsGlitchStatus method 2021-08-28 19:46:13 +10:00
Peter Barker 9114d4fc86 AP_AHRS: make home-relative functions AHRS-frontend only 2021-08-25 18:32:07 +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 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 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 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 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 ca58aa9c5f AP_AHRS: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00