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257 Commits

Author SHA1 Message Date
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
Peter Barker e4bceb2417 AP_AHRS: move AOA/SSA to AP_AHRS, don't recalc on fetch 2021-07-30 11:23:06 +10:00
Peter Barker 5160b4f6ca AP_AHRS: move AP_NMEA_Output to AHRS frontend 2021-07-27 16:55:35 +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
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 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
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
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 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
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 60d0b0f07c AP_AHRS: add WARN_IF_UNUSED to some getters 2021-01-21 20:41:17 +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 9dbd2d3eba AP_AHRS: expose active EKF type for logging 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 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
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 1bc82d3118 AP_AHRS: removed have_ekf_logging() 2020-11-10 16:15:45 +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 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
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 3f69f97d60 AP_AHRS: added get_accel() for lua access 2020-08-16 08:55:27 -07:00
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
Randy Mackay d0a2198e00 AP_AHRS: expose EKF setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
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
chobits c9e363d529 AP_AHRS: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Randy Mackay 762e82d49d AP_AHRS: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
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 585c806618 AP_AHRS: add get_primary_core_index 2020-04-24 18:18:05 +09:00
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