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921 Commits

Author SHA1 Message Date
Peter Barker 02ef8bf18a AP_AHRS: use AP_AHRS_BACKEND_DEFAULT_ENABLED for sim and navkef3 2024-01-16 12:16:35 +11:00
Peter Barker 18c5daaa38 AP_AHRS: use a switch statement when falling back to DCM 2024-01-16 12:16:35 +11:00
Peter Barker f7e94bcc75 AP_AHRS: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Peter Barker 3ed8a434ce AP_AHRS: add missing SITL header include 
the singleton is used in this file
 2024-01-03 18:33:10 +11:00
Peter Barker dd0a7a551b AP_AHRS: do not compile AP_AHRS.cpp if AP_AHRS_ENABLED is 0 
on Periph we end up not having a default backend, which is a compilation failure
 2024-01-03 17:35:54 +11:00
Peter Barker 1e41030167 AP_AHRS: cope with AP_INERTIAL_SENSOR being 0 2024-01-03 17:35:54 +11:00
njwhite 03ae94706e AP_AHRS: Don't Switch to DCM to get Better GPS if DCM Isn't Using GPS 
Look at the parameter to see if DCM uses GPS; if not don't prefer DCM for using GPS.
 2024-01-01 13:16:04 +11:00
Tom Pittenger 39e7209e33 AP_AHRS: move wind helper functions from AP_Landing 2023-12-26 10:20:23 +11:00
Andrew Tridgell 6f79c1cee2 AP_AHRS: use EKFType enum class in set_ekf_type() 2023-12-17 09:47:30 +11:00
patrick.wiltshire956@gmail.com bdab1054d6 AP_AHRS: added set_ekf_type() and DCM logging 2023-12-17 09:47:30 +11:00
Paul Riseborough 7601a02e98 AP_AHRS: added AHRS_OPTIONS parameter 
the first option is to disable DCM fallback on fixed wing. This is
suitable in environments with a high likelyhood of GPS interference
 2023-12-05 19:28:50 +11:00
Bob Long 6eed40dec1 AP_InertialNav: add fallback vertical velocity 2023-12-05 10:44:37 +11:00
Peter Barker f40250c073 AP_AHRS: compile EKF2 out by default on all boards 2023-11-27 09:05:08 +11:00
muramura 87f4509472 AP_AHRS: Change to Boolean value 2023-11-11 09:06:42 +09:00
Iampete1 19b263a220 AP_AHRS: check the health of the airspeed sensor that is being used 2023-10-31 10:39:21 +11:00
Mykhailo Kuznietsov 28e4f78ebb AP_AHRS: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Tim Tuxworth 12f9fe9456 AP_AHRS: Correct/clarify AHRS_WIND_MAX description 2023-10-11 19:09:00 +11:00
Henry Wurzburg 5a64cc9e8e AP_AHRS: add airspeed estimate status logging 2023-10-10 08:11:10 +09:00
Peter Barker fa4c7d8eb0 AP_AHRS: allow compilation when GPS not available 2023-10-04 18:10:58 +11:00
Peter Barker 486ed2965e AP_AHRS: add AP_AHRS_DCM_ENABLED 
preliminary commit to add the bulk of the changes which are not problematic
 2023-09-27 08:00:54 +10:00
Peter Barker 8e57d66a0d AP_AHRS: move AP_AHRS_DCM::groundspeed_vector into correct file 2023-09-20 19:06:10 +10:00
Peter Barker 53d12ab46d AP_AHRS: rename EKFType::NONE to EKFType::DCM 2023-09-20 17:15:10 +10:00
Peter Barker 12a06ee0ae AP_AHRS: make a pair of methods static on AP_AHRS_Backend 
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
 2023-09-19 13:20:15 +10:00
Peter Barker a5bfd58524 AP_AHRS: remove un-needed AP_AHRS_Backend::getCorrectedDeltaVelocityNED 
over-kill, and can be derived from backend biases if required
 2023-09-19 12:51:31 +10:00
Peter Barker 9bcd9df7dd AP_AHRS: move load_watchdog_home into correct cpp file 
NFC, just moving the code out of the DCM backend file
 2023-09-19 11:35:45 +10:00
Peter Barker 622b83da9e AP_AHRS: move set_home method into correct .cpp file 
NFC, just moving the code in prepration for allowing DCM to be compiled out
 2023-09-19 11:35:45 +10:00
Peter Barker f8a4dd02d9 AP_AHRS: simplify specification of primary IMU indices 
given that DCM doesn't specify to use the primary accel or gyro when fetching the data from the Ins library, it shouldn't be special-cased here when asked what the primary IMU and accel are.  Note that this was asking for the *configured* backend type, rather than the active EKF type, making these clauses even stranger.

This also changes the definition of the "primary IMU index" to be whichever gyro is active rather than the accel.  Since we don't currently split primary gyro/primary accel, this is a reasonable change.
 2023-09-19 11:34:37 +10:00
Peter Barker e83b6bcfcb AP_AHRS: remove get_primary_IMU_index from public interface 2023-09-19 11:34:37 +10:00
Peter Barker 0b4007d22c AP_AHRS: make comment match code behaviour in airspeed DCM-fallback 
the comment here was incorrect; we do not need EKF3 to have a good wind estimate to fall back to DCM here.

Also restructure the code to make it more obvious that this is what's going on.
 2023-09-19 11:30:45 +10:00
Peter Barker c30bceb2a0 AP_AHRS: return location inside backend_results structure 
with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
 2023-09-19 11:25:49 +10:00
Andy Piper 2f807230d0 AP_AHRS: rename get_angle_P_scale_logging() 2023-09-13 18:02:44 +10:00
Peter Barker 6e1e1f6596 AP_AHRS: add methods for returning location for origin offsets 2023-09-12 09:29:26 +10:00
Peter Barker 73a09f3dc5 AP_AHRS: allow more libraries to compile with no HAL_GCS_ENABLED 2023-09-05 22:23:51 +10:00
Andrew Tridgell d8c5ce4347 AP_AHRS: fixes for macos CAN SITL build 2023-08-29 15:09:48 +10:00
Andrew Tridgell 725a2227ca AP_AHRS: return estimates from state structure 
this lowers CPU usage and fixes race conditions
 2023-08-26 17:13:10 +10:00
Andrew Tridgell 5d4bf9fc14 AP_AHRS: fixed build for SITL periph 2023-08-24 13:06:40 +10:00
Andrew Tridgell ce33149c9d AP_AHRS: fixed relative home functions to calculate without origin 
this allows for FENCE_AUTOENABLE on planes with no compass
 2023-08-03 13:08:21 +10:00
Andrew Tridgell b38fde2cf6 AP_AHRS: fixed comments on position functions 2023-08-03 13:08:21 +10:00
Henry Wurzburg 0aef2cc133 AP_AHRS:improve filter inconsistent messages 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2023-08-01 09:09:01 +09:00
Randy Mackay 4b96c2f568 AP_AHRS: comment to clarify get-velocity-NED units 2023-07-18 21:02:02 +09:00
Peter Barker be392b1c5b AP_AHRS: add and use AP_AHRS_ENABLED 2023-06-21 22:28:48 +10:00
Peter Barker 904707de15 AP_AHRS: clarify get_vert_pos_rate AHRS method name to include 'D' 2023-06-06 20:09:28 +10:00
Paul Riseborough 34a5657e3e AP_AHRS: Add handlers for external lat lng position set 2023-06-06 15:19:12 +10:00
Peter Barker f192d2644c AP_AHRS: make ExternalAHRS an AP_AHRS_Backend 2023-06-01 12:45:56 +10:00
Andrew Tridgell 3e601df229 AP_AHRS: don't reject airspeed using EKF if dead-reckoning 
when dead-reckoning the EKF wind estimate can diverge from reality,
leading to us rejecting a valid airspeed sensor. We are best off
trusting airspeed if we are dead-reckoning
 2023-05-30 17:06:13 +10:00
Henry Wurzburg 3a49804703 AP_AHRS: fix compile for 1MB bds using SITL on hdwr 2023-05-16 21:11:36 +10:00
Peter Barker f67f025c92 AP_AHRS: pre-declare Location object 
we don't need to know the storage, and if you cut enough stuff out then we don't end up transitively including the required header for this.
 2023-05-15 16:34:23 +10:00
Andrew Tridgell f7be18755e AP_AHRS: fixed earth frame accel for EKF3 with significant trim 2023-02-28 17:16:39 +11:00
Tom Pittenger 9ac0514e8e AP_AHRS: move AP_NMEA_OUTPUT to a first class library 2023-02-07 21:12:07 +11:00
Peter Barker 7fa0b75d48 AP_AHRS: avoid using struct Location 
clang reports this could be a problem when compiling under some EABIs.  Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
 2023-02-04 22:51:54 +11:00