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320 Commits

Author SHA1 Message Date
Henry Wurzburg 5a64cc9e8e AP_AHRS: add airspeed estimate status logging 2023-10-10 08:11:10 +09:00
Peter Barker 486ed2965e AP_AHRS: add AP_AHRS_DCM_ENABLED 
preliminary commit to add the bulk of the changes which are not problematic
 2023-09-27 08:00:54 +10:00
Peter Barker 53d12ab46d AP_AHRS: rename EKFType::NONE to EKFType::DCM 2023-09-20 17:15:10 +10:00
Peter Barker 12a06ee0ae AP_AHRS: make a pair of methods static on AP_AHRS_Backend 
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
 2023-09-19 13:20:15 +10:00
Peter Barker e83b6bcfcb AP_AHRS: remove get_primary_IMU_index from public interface 2023-09-19 11:34:37 +10:00
Peter Barker c30bceb2a0 AP_AHRS: return location inside backend_results structure 
with the change to cache results inside AP::ahrs().state we no longer need to worry about the backend's attempts to project the last-known-location forwards according to amount of time elapsed since that last-known-location was calculated.
 2023-09-19 11:25:49 +10:00
Peter Barker 6e1e1f6596 AP_AHRS: add methods for returning location for origin offsets 2023-09-12 09:29:26 +10:00
Andrew Tridgell 725a2227ca AP_AHRS: return estimates from state structure 
this lowers CPU usage and fixes race conditions
 2023-08-26 17:13:10 +10:00
Andrew Tridgell b38fde2cf6 AP_AHRS: fixed comments on position functions 2023-08-03 13:08:21 +10:00
Henry Wurzburg 0aef2cc133 AP_AHRS:improve filter inconsistent messages 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2023-08-01 09:09:01 +09:00
Randy Mackay 4b96c2f568 AP_AHRS: comment to clarify get-velocity-NED units 2023-07-18 21:02:02 +09:00
Peter Barker 904707de15 AP_AHRS: clarify get_vert_pos_rate AHRS method name to include 'D' 2023-06-06 20:09:28 +10:00
Paul Riseborough 34a5657e3e AP_AHRS: Add handlers for external lat lng position set 2023-06-06 15:19:12 +10:00
Peter Barker f192d2644c AP_AHRS: make ExternalAHRS an AP_AHRS_Backend 2023-06-01 12:45:56 +10:00
Tom Pittenger 9ac0514e8e AP_AHRS: move AP_NMEA_OUTPUT to a first class library 2023-02-07 21:12:07 +11:00
Peter Barker 7fa0b75d48 AP_AHRS: avoid using struct Location 
clang reports this could be a problem when compiling under some EABIs.  Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
 2023-02-04 22:51:54 +11:00
Peter Barker c440d98897 AP_AHRS: tidy available-AHRS-types enumeration 2023-01-23 10:05:17 +11:00
Peter Barker aa7ab28969 AP_AHRS: add a bool wind_estimate(...) 
NavEKF3 can fail to return a wind estimate, and we lose that value
 2023-01-18 11:20:32 +11:00
Peter Barker c42754b691 AP_AHRS: create an AP_AHRS_SIM backend 2023-01-12 13:11:40 +11:00
Peter Barker 551dae8759 AP_AHRS: break out an AP_AHRS_config.h 2023-01-10 10:27:39 +11:00
Andrew Tridgell 56c8cffc07 AP_AHRS: auto-enable EKF3 for misconfiguration 
this fixes a "climb away" in quadplanes when AHRS_EKF_TYPE=2 and
EK2_ENABLE=0. The user has ARMING_CHECK=5390 to disable key arming
checks, and the plane flew on DCM as the configured EKF wasn't
enabled.

This resulted in AHRS::get_origin() returning false as it couldn't ask
EKF2 for the origin (as EKF2 was not enabled or instantiated)

The result was an incorrect calculation for target height during the
descent stage of QRTL, resulting in a climb away until the user took
over
 2022-12-20 10:34:22 +11:00
Stephen Dade 5d3e636d71 AP_AHRS: Add support for fixed height optical flow 2022-12-01 08:03:47 +09:00
Paul Riseborough 6a328c5d3b AP_AHRS: Add accessor function for airspeed health monitoring 2022-09-26 14:17:53 +10:00
Andrew Tridgell f80ba734c8 AP_AHRS: removed use of "blended" accel values 
calculate a single EF accel based on primary IMU
 2022-08-21 18:51:59 +10:00
nrt c3d8f0fa45 AP_AHRS: added a getter function to get active source set once the ekf3 filter is started 2022-08-18 02:05:27 -04:00
Peter Barker cfb391dc2c AP_AHRS: stop using GCS_MAVLINK.h in header files 
... by passing through a reference to a link object instead
 2022-08-16 09:45:51 +10:00
Peter Barker aeb24d4978 AP_AHRS: remove method casting active EKF type for logging 
logging is now done internally
 2022-07-29 11:05:19 +10:00
Peter Barker 4909866dd9 AP_AHRS: add prearm check that we are using configured AHRS type 2022-07-28 15:53:13 +10:00
Bailey K. Srimoungchanh b6a089f90e AP_AHRS: Fixed body_to_earth 
body_to_earth was not implemented consistently with earth_to_body.
Changed the order of operation to be consistent and rotate reference
frame correctly.
 2022-07-22 09:11:17 +10:00
Peter Barker 5a1d4f3bf5 AP_AHRS: update rotation based on board_orient parameter 2022-06-12 17:32:11 +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
Peter Barker 7ad9609fb7 AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED 2022-03-17 14:39:55 +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
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
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 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
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 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