Peter Barker
6a21152b67
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
2022-04-07 10:05:28 +10:00
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
