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Commit Graph

272 Commits

Author SHA1 Message Date
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
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