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101 Commits

Author SHA1 Message Date
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
Peter Barker 4e12f16608 AP_AHRS: provide accessor for synthetic airspeed 2020-08-04 23:12:03 +10:00
Randy Mackay b0b78e974b AP_AHRS: add get_quaternion 2020-04-09 19:41:08 +09:00
Peter Hall f6897632f8 AP_AHRS: move to airspeed_estimate with pointer 2020-01-14 22:34:37 -07:00
Andrew Tridgell 74e56ab8cc AP_AHRS: use new persistent_data interface 2019-05-15 15:33:48 +10:00
Andrew Tridgell f7026b854e AP_AHRS: added save/restore of attitude in backup registers 2019-04-22 16:53:35 +10:00
Andrew Tridgell b8605c9ee6 AP_AHRS: save/restore home to backup registers 
restore on watchdog reset

# Conflicts:
#	libraries/AP_AHRS/AP_AHRS_DCM.cpp
 2019-04-22 16:53:35 +10:00
Andrew Tridgell 2ffded4dd7 AP_AHRS: implement get_velocity_NED() for DCM 2019-03-19 14:39:04 +11:00
Michael du Breuil 2ed1757353 AP_AHRS: Remove unused uptime 2019-03-19 11:42:54 +11:00
Randy Mackay b202270d1a AP_AHRS: minor format fixes 2019-02-22 13:00:07 +09:00
Peter Barker 2e403bfd52 AP_AHRS: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Andrew Tridgell 1056e64419 AP_AHRS: added get_DCM_rotation_body_to_ned() 
this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
 2018-07-18 16:07:19 +10:00
Peter Barker 355752ebb8 AP_AHRS: remove pointless initialisations 
These are either in bss or new'd.

Saves ~130 bytes
 2018-04-04 10:14:40 +01:00
Peter Barker 1dabcc473d AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 024b29858d AP_AHRS: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker e15442355a AP_AHRS: use GPS singleton 2017-12-27 00:58:02 +00:00
khancyr d89d496c8f AP_AHRS: make getter const 2017-12-18 22:43:59 +00:00
Andrew Tridgell 0ccaa5bcba AP_AHRS: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Lucas De Marchi cd1ff7b86f AP_AHRS: DCM: add static create method 2017-09-26 03:01:21 +01:00
Andrew Tridgell a11dca5229 AP_AHRS: added optional skip_ins_update to AHRS::update() 
avoid the ins update if already done in copter fast_loop()
 2017-04-03 13:04:11 +09:00
Peter Barker e744460ff5 AP_AHRS: mark many functions as override 
Also take the opportunity to remove void parameter
 2017-02-24 21:13:08 +11:00
Peter Barker 4ed7fb154f AP_AHRS: supply missing get_relative_position_D_home 
Simply returns the baro altitude (like EKF does if it lacks
position)
 2017-02-24 21:13:08 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Lucas De Marchi e0153faa85 AP_AHRS: replace header guard with pragma once 2016-03-16 18:40:40 +11:00
Jonathan Challinger 6682b27456 AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned 2015-12-18 18:08:37 +11:00
Lucas De Marchi da86e29c27 AP_AHRS: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Andrew Tridgell 0677c2c80c AP_AHRS: run astyle for formatting 2015-09-23 17:31:00 +10:00
Andrew Tridgell 7a76f72bf5 AP_AHRS: added uptime_ms() interface 2015-05-20 15:22:14 +10:00
Andrew Tridgell 6bfca648b9 AP_AHRS: raise DCM P gains when disarmed for first 20 seconds 2015-04-28 14:07:39 +10:00
Tom Pittenger e28c555889 AHRS_DCM: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:26:08 +09:00
Andrew Tridgell a0969905ce AP_AHRS: make get_error_rp() and get_error_yaw() const 
this makes them usable by multiple consumers, and allows use by EKF
 2015-04-21 21:42:17 +10:00
Andrew Tridgell 68f64fa11c AP_AHRS: make the healthy() method const 2015-02-01 14:13:52 +11:00
Randy Mackay 4452aa8448 AP_AHRS_DCM: compile error fix for low speed CPUs 
Also correct initialisatoin order to remove compiler warning
 2014-12-05 19:43:05 +09:00
Jonathan Challinger 4975cefd84 AP_AHRS_DCM: update _accel_ef_blended 2014-12-05 19:40:06 +09:00
Randy Mackay dffcfb42bc AHRS: add reset_gyro_drift method 2014-10-28 20:25:33 +09:00
Andrew Tridgell 270bac4472 AP_AHRS: make get_position() const 
This allows use from within AP_Mission
 2014-10-20 08:36:20 +11:00
Randy Mackay 85eee31510 AHRS: rename ekfNotStarted method to initialised 
Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
 2014-10-02 14:40:54 +09:00
priseborough 7cea7c6a18 AP_AHRS : add method to report if EKF is waiting to start 2014-10-02 14:38:29 +09:00
Randy Mackay a6de3283b6 AHRS_DCM: init members to resolve compiler warnings 2014-08-14 11:27:31 +09:00
Andrew Tridgell 28fedba4d8 AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF 
this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
 2014-07-13 21:56:39 +10:00
Jonathan Challinger 61987f6655 AP_AHRS: Fixed DCM get_gyro function 
Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
 2014-07-13 21:19:29 +10:00
Andrew Tridgell 1a05c27bbb AP_AHRS: added healthy() function 
this will be used to report when the AHRS subsystem becomes unhealthy
 2014-05-15 21:14:21 +10:00
Andrew Tridgell c8c6e05a4a AP_AHRS: added vehicle class to AHRS 
used by EKF to control use of get_fly_forward()
 2014-04-21 18:13:12 +10:00
Andrew Tridgell f07e4dee52 AP_AHRS: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell b53496d470 AP_AHRS: choose the best accelerometer at each drift correction step 
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
 2014-02-27 09:41:28 +11:00
Andrew Tridgell 0b45d2bc06 AP_AHRS: removed the AHRS_GPS_DELAY parameter 
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
 2014-02-27 08:57:44 +11:00
Jonathan Challinger f321a5f241 AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS 
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
 2014-02-25 18:49:16 +11:00
Andrew Tridgell eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Andrew Tridgell 25ef0d5a7b AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF 
this avoids some linking issues, plus the functions are inaccurate
without EKF
 2014-02-15 05:48:24 +11:00