Iampete1
dc0491a8ff
AP_AHRS_view: add rotate method to move from AHRS to AHRS view referance frames
2022-06-21 10:01:30 +10:00
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
Peter Barker
34a7503c1e
AP_AHRS: tidy includes
2022-05-03 09:14:58 +10:00
Iampete1
d621910a59
AP_AHRS: remove unneeded get_position wrapper
2022-04-26 10:28:28 +10:00
Iampete1
6c24a5ff37
AP_AHRS: add method to get view
2022-04-26 10:03:30 +10:00
Iampete1
04fdfea74a
AP_AHRS_View: add method to get pitch trim and note on rotation
2022-04-26 10:03:30 +10:00
Joshua Henderson
7cc2382a78
AP_AHRS_DCM: NFC comment on check_matrix() normalization reset
2022-04-19 09:27:00 +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
Peter Barker
9229fb6f9d
AP_AHRS: add alias get_position to get_location
2022-02-18 21:23:06 +11:00
Iampete1
e56b6d2765
AP_AHRS: View: get_gyro_latest should include pitch trim.
2022-02-15 11:08:05 +11:00
Peter Barker
f72024fc63
AP_AHRS: move logging of LogEvent::SET_HOME up
2022-02-08 11:04:26 +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
murata
819b25d918
AP_AHRS: remove duplicated words from comments
2022-02-07 08:24:14 +09:00
RuffaloVM
bb1bd69172
AP_AHRS : remove duplicated words from comments
2022-02-04 08:36:35 +00:00
Peter Barker
5528159f31
AP_AHRS: add WARN_IF_UNUSED to several methods
2022-02-02 19:32:47 +11:00
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
Iampete1
efb04e7f30
AP_AHRS: add video stab log message
2022-01-05 19:56:03 +11:00
Iampete1
cee0503812
AP_Logger: add video stab log structure
2022-01-05 19:56:03 +11:00
Iampete1
9cace37b03
AHRS: RATE log: add missing ff terms
2021-12-14 10:14:28 +09:00
Peter Barker
69f4b25f81
AP_AHRS: mark type column in ORGN as instance
2021-12-08 08:31:21 +09:00
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
Peter Barker
66d8be825f
AP_Logger: move LogOriginType into AP_AHRS
...
only used to log the origins by the AHRS library
2021-12-07 11:31:44 +11:00
Peter Barker
1dd34d87e7
AP_AHRS: move LogOriginType into AP_AHRS
...
only used to log the origins by the AHRS library
2021-12-07 11:31:44 +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
43e83f18be
AP_AHRS: do not send EKF_STATUS_REPORT from DCM
...
This means that even if you configure DCM as your primary you won't get
its status.
Given the status was currently garbage, this isn't necessarily a bad
thing at the moment.
2021-10-06 19:10:36 +11:00
Peter Barker
2f69dcc085
AP_AHRS: cache some trig results for yaw in DCM backend
2021-10-06 19:10:36 +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
Josh Henderson
38ead58df2
AP_AHRS: use vector.xy().length() instead of norm(x,y)
2021-09-14 10:43:46 +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
