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
khancyr
dae636b39e
AP_AHRS: correct some constcorrectness
2017-12-18 22:43:59 +00:00
Samuel Tabor
05492be269
AP_AHRS: clarify scope of AHRS_GPS_USE parameter
2017-11-20 13:53:36 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
98a43cc4b5
AP_AHRS: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Eugene Shamaev
5c080ce875
AP_AHRS: calculation and reporting of AOA and SSA
2017-04-19 20:48:42 +10:00
Randy Mackay
d3aca5544e
AP_AHRS: get_gyro_latest returns latest rates from IMU with drift correction
...
Pulling the gyro values from the IMU allows our rate controllers to run before the EKF
2017-03-03 13:14:28 +11:00
Andrew Tridgell
c62c64d27b
AP_AHRS: added support for AP_AHRS_View
2017-02-18 17:26:43 +11:00
mirkix
d2431dafd0
AP_AHRS: fix description
2017-01-17 18:55:46 +00:00
priseborough
33a7c682a3
AP_AHRS: Add EKF3 and remove EKF1
2016-12-19 08:07:10 +11:00
Peter Barker
9a8d3d6e7c
AP_AHRS: add missing parameter metadata
2016-10-27 09:15:03 -07:00
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
Jonathan Challinger
e20687fbce
AP_AHRS: cache trim rotation
2016-10-13 10:02:14 +11:00
Jonathan Challinger
a03fa2d3cf
AP_AHRS: use exact matrix for trim rotations
2016-10-13 10:02:13 +11:00
Andrew Tridgell
ea823a818c
AP_AHRS: enable EKF2 by default in AHRS
2016-01-05 16:42:01 +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
dd784189a1
AP_AHRS: remove comment about avr-libc
2015-11-04 12:14:16 +11:00
Lucas De Marchi
831d8acca5
Remove use of PROGMEM
...
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Andrew Tridgell
0677c2c80c
AP_AHRS: run astyle for formatting
2015-09-23 17:31:00 +10:00
Andrew Tridgell
7ba45444a2
AP_AHRS: added selection of EKF type using AHRS_EKF_TYPE
2015-09-23 11:57:18 +10:00
Grant Morphett
b2751d876c
AP_AHRS: Fixed spelling error in parameter desc.
2015-09-16 09:33:30 +09:00
Gustavo Jose de Sousa
54d5277842
AP_AHRS: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:42 +10:00
Andrew Tridgell
00ca493860
AP_AHRS: prevent a floating exception in update_trig
2015-05-27 22:10:39 +10:00
Paul Riseborough
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
2015-05-13 16:11:13 +09:00
Randy Mackay
6e30093924
AP_AHRS: correct sanity checks on update_trig
2015-04-23 09:45:43 +09:00
Jonathan Challinger
6a6ccb4f32
AP_AHRS: add sanity checks
2015-04-22 21:50:51 +09:00
Randy Mackay
98efcd5f03
AHRS: always use EKF for copter
2015-03-19 15:15:51 +09:00
Andrew Tridgell
ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
2015-01-20 11:27:58 +11:00
Randy Mackay
9e731550fd
AHRS: default EKF on for copter
2014-12-01 17:29:39 +09:00
Andrew Tridgell
26de54c29a
AP_AHRS: cope with 90 degree pitch in update_trig()
...
this prevents a numerical error in Replay
2014-10-25 11:21:04 +11:00
Andrew Tridgell
4ad643b233
AP_AHRS: use a common function for updating the CD values
...
this ensures the wrapping of yaw is consistent between the 3 use cases
2014-10-15 13:18:08 +11:00
Andrew Tridgell
f07e4dee52
AP_AHRS: convert to new GPS API
2014-04-01 06:38:24 +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
Andrew Tridgell
392995ef84
AP_AHRS: make AHRS handle altitude
...
AHRS now holds the home position
2014-02-15 05:29:47 +11:00
Andrew Tridgell
8c5cde4efd
AP_AHRS: allow NavEKF to be enabled at runtime with AHRS_EKF_USE=1
2014-02-15 05:28:10 +11:00
Randy Mackay
3dc6ea682c
AHRS: add update_trig
...
Calculates helper trig values including cos_roll, cos_pitch
2014-02-08 18:16:39 +09:00
Paul Riseborough
f2c2811ef3
AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters
2014-01-19 07:19:43 +11:00
Andrew Tridgell
a96840e194
AP_AHRS: changed default GPS lag to 1 sample
...
this is based on detailed logs from a LEA-6H and NEO-7N
2013-12-30 10:33:48 +11:00
Andrew Tridgell
410d356979
AP_AHRS: make airspeed_estimate const
2013-12-29 18:39:01 +11:00
Andrew Tridgell
56bcda7252
AP_AHRS: lower default roll and yaw drift correction speed
...
the gyros sustain accuracy over much longer time periods than
previously expected
2013-11-05 14:52:39 +11:00
Andrew Tridgell
02d6f012ce
AP_AHRS: added accel sum delay buffer to account for GPS lag
2013-11-04 21:21:42 +11:00
Andrew Tridgell
c56017d8f1
AP_AHRS: added in new orientations
2013-08-30 14:19:17 +10:00
Andrew Tridgell
587fb58720
AP_AHRS: fixed license text
...
APM is under GPL, not LGPL
2013-08-30 13:01:32 +10:00
Andrew Tridgell
57d2dd814d
AP_AHRS: added get_position_lag() call
...
provide position lag to libraries
2013-08-13 12:07:35 +10:00
Andrew Tridgell
0d36832b82
AP_AHRS: use const reference not pointers for locations
...
this makes life easier for the new AP_Mission library
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:12 +10:00
Andrew Tridgell
ec73fadc45
AP_AHRS: added true airspeed support in AHRS
...
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
2013-07-22 12:50:01 +10:00
Andrew Tridgell
b721bcc129
AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth()
...
these are not used any more
2013-07-13 21:45:58 +10:00
Randy Mackay
7860d06b91
AHRS: typo fix for ORIENTATION param description
2013-07-10 14:56:48 +09:00
Andrew Tridgell
279f6d00f0
AP_AHRS: changes for GPS field changes
2013-07-10 14:04:22 +10:00
Randy Mackay
ded31582de
AP_AHRS: add Roll90Yaw90 to parameter description
...
Thanks to Rainer Walther for spotting this
2013-07-07 13:06:40 -10:00
Andrew Tridgell
14628990e6
AP_AHRS: make wind estimation configurable
...
rover doesn't want it
2013-05-24 11:21:42 +10:00
Randy Mackay
b27ddf0f63
AP_AHRS: add parameter descriptions
2013-05-21 15:39:03 +09:00
Andrew Tridgell
c08c084191
AP_AHRS: added get_projected_position()
...
this is used to project the position forward by the GPS lag
2013-05-17 08:32:21 +10:00
Andrew Tridgell
a17b85c661
AP_AHRS: use vectors for ground vector complimentary filter
2013-05-13 11:27:55 +10:00
Andrew Tridgell
943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
...
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
2013-05-05 12:48:01 +10:00
Andrew Tridgell
ba83950fc4
libraries: replace constrain() with constrain_float()
...
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
2013-05-02 10:25:40 +10:00
Andrew Tridgell
014c9376e7
AP_AHRS: use const references where possible
2013-04-22 13:26:49 +10:00
Andrew Tridgell
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
...
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
2013-04-15 10:52:31 +10:00
Andrew Tridgell
87b0fb05ce
AHRS: changed default RP and YAW gain to 0.3
...
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag
Note that this doesn't affect copters, as they override to 0.1
2013-04-15 10:52:31 +10:00
priseborough
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
...
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
2013-04-12 12:48:09 +10:00
Andrew Tridgell
05ecb8d8fa
AP_AHRS: fixed functions that need to be virtual
...
functions overridden in a child class need to be marked virtual, or
you get the parent class function
2013-04-12 12:48:08 +10:00
Andrew Tridgell
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
...
these are very useful for navigation libraries
2013-04-12 12:48:08 +10:00
Randy Mackay
24044dc0c4
AHRS: add support for GPS fix type 2D
2013-03-27 11:41:43 +09:00
Randy Mackay
3321db8dde
AHRS: limit trim to 10 degrees
2013-02-19 18:50:57 +09:00
James Bielman
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Andrew Tridgell
f644a356c9
AP_AHRS: document more rotation combinations
2013-01-13 17:32:48 +11:00
Andrew Tridgell
848fc3e32d
AP_AHRS: added AHRS_ORIENTATION parameter
2013-01-13 17:32:48 +11:00
rmackay9
9e5861ccaf
AP_AHRS: small fix to parameter comments
2013-01-02 16:08:38 +09:00
rmackay9
77331f6538
AP_AHRS: another attempt at updating the TRIM parameter descriptions
2013-01-02 15:47:59 +09:00
rmackay9
e6c10f4f0b
AP_ARHS: add description to AHRS_TRIM parameters
2013-01-02 15:44:42 +09:00
rmackay9
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2013-01-02 09:20:08 +11:00
Andrew Tridgell
e282554035
AHRS: removed some debug code
2012-12-20 14:53:23 +11:00
Andrew Tridgell
5840ded767
AHRS: removed constrain() defines
2012-12-20 14:51:34 +11:00
Pat Hickey
9bf69d4e0d
AP_AHRS: port to AP_HAL
2012-12-20 14:51:29 +11:00
rmackay9
24317e721b
AC_PID, AP_AHRS: added descriptions to some parameters
2012-12-10 22:28:39 +09:00
Andrew Tridgell
1dad9e4e94
AHRS: improved some more doc strings
2012-11-27 15:56:53 +11:00
Andrew Tridgell
eb1d5c2c68
AHRS: improved docs for AHRS_GPS_USE
...
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
2012-11-27 15:41:52 +11:00
Andrew Tridgell
5a214acca3
AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P
...
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
2012-11-19 22:50:05 +11:00
rmackay9
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +09:00
Andrew Tridgell
458a42654b
DCM: disable use of baro for vertical accel by default
...
this has caused problems with too many users
2012-09-20 17:34:32 +10:00
Andrew Tridgell
fba1692d69
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
2012-09-12 14:42:04 +10:00
Andrew Tridgell
de28cc8b28
AHRS: added AHRS_WIND_MAX option
...
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
2012-09-08 11:37:07 +10:00
Andrew Tridgell
2be785899b
AHRS: added airspeed_estimate() function
...
this allows the APM code to use an airspeed estimate for navigation
2012-08-25 17:49:26 +10:00
Andrew Tridgell
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00