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232 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
Andrew Tridgell
924759510d AP_AHRS: fixed use of filtered gyro with DCM active 
we need to overwrite _omega with the filtered gyro value, so we get
both the low pass filter and the notch filters. Otherwise we will fly
with very high noise gyro data

this also fixes the accel_ef_blended to use the filtered accel. It is
not blended, and removing "_blended" from the API will be worthwhile
as a followup
 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
Henry Wurzburg
a5b373e912 AP_AHRS: modify AHRS type check for compass-less setups 2022-08-09 11:02:24 +10:00
Andrew Tridgell
0ededd7c62 AP_AHRS: use wind from simulation if available with EKF type 10 2022-08-02 07:49:34 +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
Henry Wurzburg
51a21679be AP_AHRS: expand description of custom orientation parameters 2022-07-21 15:45:28 +01:00
Peter Barker
5a1d4f3bf5 AP_AHRS: update rotation based on board_orient parameter 2022-06-12 17:32:11 +10:00
Andrew Tridgell
5a1a87cc60 AP_AHRS: fixed bug in blended EKF bias 
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
 2022-05-04 06:49:34 +10:00
Iampete1
6c24a5ff37 AP_AHRS: add method to get view 2022-04-26 10:03:30 +10:00
Peter Barker
c1c18331f9 AP_AHRS: remove instance id from EK2 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-12 10:25:29 +10:00
Peter Barker
b762aac6ce AP_AHRS: remove instance id from EK3 external interface 
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
 2022-04-06 17:36:05 +10:00
Peter Barker
fd666dc4f1 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-03 11:41:09 +10:00
Peter Barker
7ad9609fb7 AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker
4896f8a6d7 AP_AHRS: rename SITL backend to SIM 2022-03-17 14:39:55 +11:00
Iampete1
480cc3fa46 AP_AHRS: convert param to new custom rotation 2022-03-02 18:16:42 +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
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
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
a6099acd5c AP_AHRS: return failure in pre_arm_check if unhealthy 2022-01-19 18:33:07 +11:00
Joshua Henderson
8a6942a9df AP_AHRS: add define AP_AIRSPEED_ENABLED 2022-01-19 18:21:32 +11:00
Peter Barker
a31ff08f23 AP_AHRS: create and use AP_AHRS_SIM_ENABLED 2022-01-17 19:12:56 +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
Andrew Tridgell
0141ec5be7 AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity 
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
 2021-11-24 13:52:13 +11:00
Andrew Tridgell
01fb16b3b0 AP_AHRS: relax arming checks for inactive AHRS types 
When using an EKF as ride-along we should not fail arming if it has
inconsistent yaw between its lanes. This is especially important when
using external yaw or GPS yaw with EKF3, where yaw is expected to be
bad with EKF2.

The check on DCM is based on the existance of an AHRS view. This is so
that tailsitters do not get arming failures due to the inability of
DCM to cope with being nose up
 2021-11-04 17:44:29 +11:00
Andrew Tridgell
bdf903b862 AP_AHRS: add accessor for GSF yaw estimator 2021-11-01 09:00:27 +11:00
Andy Piper
e1dd0fd70d AP_AHRS: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI 2021-10-26 11:42:12 +11:00
Peter Barker
44d56854be AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend 2021-10-06 19:10:36 +11:00
Hwurzburg
873097c030 AP_AHRS: Change orientation labels to march order of rotation 2021-10-05 11:21:48 +11:00
Gone4Dirt
94b97313be AP_AHRS: Add APM_BUILD_Heli 2021-09-29 19:55:48 +10:00
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
29d2eed9e4 Sub: view update does not take skip_ins_update 2021-08-31 14:28:53 +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
e8066aa993 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:28:12 +10:00
Peter Barker
a933652950 AP_AHRS: return perfect airspeed estimate for EKF-type 10 
... rather than the EKF3 estimate
 2021-08-25 18:28:12 +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
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
29aed55a74 AP_AHRS: remove pointless zeroing of gyro_estimate vector 
This value is assigned to in the following "if" block in both the for
and against cases, and isn't used to determine the new value.
 2021-08-12 08:52:24 +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
Peter Barker
107e647d00 AP_AHRS: correct compilation under SITL with no EKF3 2021-08-04 18:15:55 +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
Iampete1
9cceb2d5c1 AP_AHRS: update orientation param values 2021-07-28 18:09:05 +10:00
Peter Barker
f557d41145 AP_AHRS: rotate quaternions into vehicle body frame 
DCM was having it both ways depending on whether it was
primary/secondary.

These are mostly uses for reporting, in which case you would expect the
quaternion to match the eulers.
 2021-07-28 17:20:28 +10:00
Peter Barker
5160b4f6ca AP_AHRS: move AP_NMEA_Output to AHRS frontend 2021-07-27 16:55:35 +10:00
Peter Barker
4f9201a160 AP_AHRS: move parameters back into AP_AHRS.h 
metadata collection kind of dies otherwise
 2021-07-22 21:21:40 +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
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
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
358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Andrew Tridgell
1ce77111e5 AP_AHRS: allow override of default EKF type 2021-01-20 10:06:45 +11:00
Randy Mackay
1b3ad9cd8d AP_AHRS: use ekf3 by default 2021-01-16 08:24:23 +09:00
Josh Henderson
62ff9a4d4b AP_AHRS: move logging functions to AHRS 2021-01-12 10:13:22 +11:00
Iampete1
d7e8ad1c13 AP_AHRS: add ARSPD_OPTION note to WIND_MAX 2020-10-27 11:21:04 +11:00
Peter Barker
ad435dcdbb AP_AHRS: remove unused base-class airspeed_estimate method 2020-08-04 10:08:22 +10:00
Andrew Tridgell
f896213770 AP_AHRS: drop rotate prefix on 2D rotates 2020-06-04 09:49:52 +10:00
Andrew Tridgell
393a8785f3 AP_AHRS: implement get_vibration method on AHRS 2020-03-12 08:36:40 +11:00
Peter Hall
f6897632f8 AP_AHRS: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
vierfuffzig
2af0be3947 AP_AHRS: fix custom orientation ToRad conversion 2019-10-01 09:35:09 +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
Jaaaky
fb311208ab AP_AHRS: Fix DCM gndVelADS on groundspeed_vector() with airspeed_use 2019-06-13 16:31:12 +10:00
Francisco Ferreira
869a369cc0 AP_AHRS: support NMEA output 2019-05-21 09:41:15 +10:00
Tom Pittenger
a577223ac6 AP_AHRS: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
63e894e7e1 AP_AHRS: rename set_orientation to update_orientation 
set_ should be reserved for setters
 2019-02-26 10:28:09 +11:00
Tom Pittenger
c10fd9cafb AP_AHRS: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Pierre Kancir
d87853d93e AP_AHRS: pass vector by const reference 2018-12-22 08:31:32 +09:00
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
Andrew Tridgell
33b26da2eb AP_AHRS: small cleanups 
always pass the pitch trim, and removed unusued variables
 2018-11-12 17:05:04 +11:00
IamPete1
e1cdf9fe0a AP_AHRS: add trimed view 2018-11-12 17:05:04 +11:00
Peter Barker
9793703a76 AP_AHRS: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Jacob Walser
74be9f0bda AP_AHRS: Add support for custom board orientations 2018-04-24 13:04:37 +01:00
Jacob Walser
b820da5c6f AP_AHRS: update AHRS_ORIENTATION metadata 2018-04-24 13:04:37 +01:00
Peter Barker
1dabcc473d AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker
dc30197ca7 AP_AHRS: add AP::ahrs() singleton 2018-03-07 12:34:39 +00:00
Andrew Tridgell
0b5e3936fe AP_AHRS: added earth to body 2D rotations 2018-02-08 17:36:33 +11:00
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