mirror of https://github.com/ArduPilot/ardupilot
837 lines
28 KiB
C++
837 lines
28 KiB
C++
#pragma once
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AHRS (Attitude Heading Reference System) frontend interface for
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* ArduPilot
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*
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*/
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#include <AP_HAL/AP_HAL.h>
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#ifndef HAL_NAVEKF2_AVAILABLE
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// only default to EK2 enabled on boards with over 1M flash
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#define HAL_NAVEKF2_AVAILABLE (BOARD_FLASH_SIZE>1024)
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#endif
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#ifndef HAL_NAVEKF3_AVAILABLE
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#define HAL_NAVEKF3_AVAILABLE 1
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#endif
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#ifndef AP_AHRS_SIM_ENABLED
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#define AP_AHRS_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if AP_AHRS_SIM_ENABLED
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#include <SITL/SITL.h>
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#endif
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
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#include "AP_AHRS_DCM.h"
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// forward declare view class
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class AP_AHRS_View;
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#define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000 // time in milliseconds the ekf needs to settle after being started
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#include <AP_NMEA_Output/AP_NMEA_Output.h>
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// fwd declare GSF estimator
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class EKFGSF_yaw;
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class AP_AHRS {
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friend class AP_AHRS_View;
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public:
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enum Flags {
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FLAG_ALWAYS_USE_EKF = 0x1,
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};
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// Constructor
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AP_AHRS(uint8_t flags = 0);
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// initialise
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void init(void);
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/* Do not allow copies */
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CLASS_NO_COPY(AP_AHRS);
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// get singleton instance
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static AP_AHRS *get_singleton() {
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return _singleton;
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}
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// allow for runtime change of orientation
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// this makes initial config easier
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void update_orientation();
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// allow threads to lock against AHRS update
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HAL_Semaphore &get_semaphore(void) {
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return _rsem;
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}
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// return the smoothed gyro vector corrected for drift
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const Vector3f &get_gyro(void) const;
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// return the current drift correction integrator value
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const Vector3f &get_gyro_drift(void) const;
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// reset the current gyro drift estimate
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// should be called if gyro offsets are recalculated
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void reset_gyro_drift();
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void update(bool skip_ins_update=false);
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void reset();
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// dead-reckoning support
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bool get_location(struct Location &loc) const;
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// for scripting until aliases get sorted out:
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bool get_position(struct Location &loc) const {
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return get_location(loc);
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}
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// get latest altitude estimate above ground level in meters and validity flag
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bool get_hagl(float &hagl) const WARN_IF_UNUSED;
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// status reporting of estimated error
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float get_error_rp() const;
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float get_error_yaw() const;
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/*
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* wind estimation support
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*/
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// enable wind estimation
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void set_wind_estimation_enabled(bool b) { wind_estimation_enabled = b; }
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// wind_estimation_enabled returns true if wind estimation is enabled
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bool get_wind_estimation_enabled() const { return wind_estimation_enabled; }
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// return a wind estimation vector, in m/s
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Vector3f wind_estimate() const;
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// instruct DCM to update its wind estimate:
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void estimate_wind() { dcm.estimate_wind(); }
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// return the parameter AHRS_WIND_MAX in metres per second
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uint8_t get_max_wind() const {
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return _wind_max;
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}
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/*
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* airspeed support
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*/
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// get apparent to true airspeed ratio
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float get_EAS2TAS(void) const {
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// FIXME: make this is a method on the active backend
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return dcm.get_EAS2TAS();
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}
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// return an airspeed estimate if available. return true
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// if we have an estimate
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bool airspeed_estimate(float &airspeed_ret) const;
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// return a true airspeed estimate (navigation airspeed) if
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// available. return true if we have an estimate
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bool airspeed_estimate_true(float &airspeed_ret) const;
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// return estimate of true airspeed vector in body frame in m/s
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// returns false if estimate is unavailable
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bool airspeed_vector_true(Vector3f &vec) const;
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// return true if airspeed comes from an airspeed sensor, as
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// opposed to an IMU estimate
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bool airspeed_sensor_enabled(void) const;
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// return true if airspeed comes from a specific airspeed sensor, as
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// opposed to an IMU estimate
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bool airspeed_sensor_enabled(uint8_t airspeed_index) const {
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// FIXME: make this a method on the active backend
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return dcm.airspeed_sensor_enabled(airspeed_index);
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}
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// return a synthetic airspeed estimate (one derived from sensors
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// other than an actual airspeed sensor), if available. return
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// true if we have a synthetic airspeed. ret will not be modified
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// on failure.
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bool synthetic_airspeed(float &ret) const WARN_IF_UNUSED;
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// true if compass is being used
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bool use_compass();
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// return the quaternion defining the rotation from NED to XYZ (body) axes
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bool get_quaternion(Quaternion &quat) const WARN_IF_UNUSED;
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// return secondary attitude solution if available, as eulers in radians
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bool get_secondary_attitude(Vector3f &eulers) const;
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// return secondary attitude solution if available, as quaternion
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bool get_secondary_quaternion(Quaternion &quat) const;
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// return secondary position solution if available
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bool get_secondary_position(struct Location &loc) const;
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// EKF has a better ground speed vector estimate
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Vector2f groundspeed_vector();
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// return ground speed estimate in meters/second. Used by ground vehicles.
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float groundspeed(void);
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const Vector3f &get_accel_ef(uint8_t i) const;
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const Vector3f &get_accel_ef() const;
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// Retrieves the corrected NED delta velocity in use by the inertial navigation
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void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const;
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// blended accelerometer values in the earth frame in m/s/s
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const Vector3f &get_accel_ef_blended() const;
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// set the EKF's origin location in 10e7 degrees. This should only
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// be called when the EKF has no absolute position reference (i.e. GPS)
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// from which to decide the origin on its own
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bool set_origin(const Location &loc) WARN_IF_UNUSED;
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// returns the inertial navigation origin in lat/lon/alt
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bool get_origin(Location &ret) const WARN_IF_UNUSED;
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bool have_inertial_nav() const;
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bool get_velocity_NED(Vector3f &vec) const WARN_IF_UNUSED;
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// return the relative position NED to either home or origin
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// return true if the estimate is valid
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bool get_relative_position_NED_home(Vector3f &vec) const WARN_IF_UNUSED;
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bool get_relative_position_NED_origin(Vector3f &vec) const WARN_IF_UNUSED;
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// return the relative position NE to either home or origin
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// return true if the estimate is valid
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bool get_relative_position_NE_home(Vector2f &posNE) const WARN_IF_UNUSED;
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bool get_relative_position_NE_origin(Vector2f &posNE) const WARN_IF_UNUSED;
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// return the relative position down to either home or origin
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// baro will be used for the _home relative one if the EKF isn't
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void get_relative_position_D_home(float &posD) const;
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bool get_relative_position_D_origin(float &posD) const WARN_IF_UNUSED;
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// Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops.
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// This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
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bool get_vert_pos_rate(float &velocity) const;
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// write optical flow measurements to EKF
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void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
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// retrieve latest corrected optical flow samples (used for calibration)
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bool getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const;
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// write body odometry measurements to the EKF
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void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset);
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// Writes the default equivalent airspeed and its 1-sigma uncertainty in m/s to be used in forward flight if a measured airspeed is required and not available.
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void writeDefaultAirSpeed(float airspeed, float uncertainty);
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// Write position and quaternion data from an external navigation system
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void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms);
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// Write velocity data from an external navigation system
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void writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms);
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// get speed limit
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void getControlLimits(float &ekfGndSpdLimit, float &controlScaleXY) const;
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float getControlScaleZ(void) const;
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// is the AHRS subsystem healthy?
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bool healthy() const;
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
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// requires_position should be true if horizontal position configuration should be checked
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bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const;
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// true if the AHRS has completed initialisation
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bool initialised() const;
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// return true if *DCM* yaw has been initialised
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bool dcm_yaw_initialised(void) const {
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return dcm.yaw_initialised();
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}
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// get_filter_status - returns filter status as a series of flags
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bool get_filter_status(nav_filter_status &status) const;
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// get compass offset estimates
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// true if offsets are valid
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bool getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const;
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// check all cores providing consistent attitudes for prearm checks
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bool attitudes_consistent(char *failure_msg, const uint8_t failure_msg_len) const;
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// return the amount of yaw angle change due to the last yaw angle reset in radians
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// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
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uint32_t getLastYawResetAngle(float &yawAng);
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// return the amount of NE position change in meters due to the last reset
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastPosNorthEastReset(Vector2f &pos);
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// return the amount of NE velocity change in meters/sec due to the last reset
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastVelNorthEastReset(Vector2f &vel) const;
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// return the amount of vertical position change due to the last reset in meters
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastPosDownReset(float &posDelta);
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// Resets the baro so that it reads zero at the current height
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// Resets the EKF height to zero
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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// Returns true if the height datum reset has been performed
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// If using a range finder for height no reset is performed and it returns false
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bool resetHeightDatum();
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// send a EKF_STATUS_REPORT for current EKF
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void send_ekf_status_report(mavlink_channel_t chan) const;
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// get_hgt_ctrl_limit - get maximum height to be observed by the control loops in meters and a validity flag
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// this is used to limit height during optical flow navigation
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// it will return invalid when no limiting is required
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bool get_hgt_ctrl_limit(float &limit) const;
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// Set to true if the terrain underneath is stable enough to be used as a height reference
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// this is not related to terrain following
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void set_terrain_hgt_stable(bool stable);
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// return the innovations for the specified instance
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// An out of range instance (eg -1) returns data for the primary instance
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bool get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const;
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// returns true when the state estimates are significantly degraded by vibration
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bool is_vibration_affected() const;
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// get_variances - provides the innovations normalised using the innovation variance where a value of 0
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// indicates perfect consistency between the measurement and the EKF solution and a value of 1 is the maximum
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// inconsistency that will be accepted by the filter
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// boolean false is returned if variances are not available
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bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const;
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// get a source's velocity innovations
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// returns true on success and results are placed in innovations and variances arguments
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bool get_vel_innovations_and_variances_for_source(uint8_t source, Vector3f &innovations, Vector3f &variances) const WARN_IF_UNUSED;
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// returns the expected NED magnetic field
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bool get_mag_field_NED(Vector3f& ret) const;
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// returns the estimated magnetic field offsets in body frame
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bool get_mag_field_correction(Vector3f &ret) const;
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// return the index of the airspeed we should use for airspeed measurements
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// with multiple airspeed sensors and airspeed affinity in EKF3, it is possible to have switched
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// over to a lane not using the primary airspeed sensor, so AHRS should know which airspeed sensor
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// to use, i.e, the one being used by the primary lane. A lane switch could have happened due to an
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// airspeed sensor fault, which makes this even more necessary
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uint8_t get_active_airspeed_index() const;
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// return the index of the primary core or -1 if no primary core selected
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int8_t get_primary_core_index() const;
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// get the index of the current primary accelerometer sensor
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uint8_t get_primary_accel_index(void) const;
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// get the index of the current primary gyro sensor
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uint8_t get_primary_gyro_index(void) const;
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// see if EKF lane switching is possible to avoid EKF failsafe
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void check_lane_switch(void);
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// request EKF yaw reset to try and avoid the need for an EKF lane switch or failsafe
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void request_yaw_reset(void);
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// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
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void set_posvelyaw_source_set(uint8_t source_set_idx);
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void Log_Write();
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// check if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed
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bool using_noncompass_for_yaw(void) const;
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// check if external nav is providing yaw
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bool using_extnav_for_yaw(void) const;
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// set and save the ALT_M_NSE parameter value
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void set_alt_measurement_noise(float noise);
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// active EKF type for logging
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uint8_t get_active_AHRS_type(void) const {
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return uint8_t(active_EKF_type());
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}
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// get the selected ekf type, for allocation decisions
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int8_t get_ekf_type(void) const {
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return _ekf_type;
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}
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// these are only out here so vehicles can reference them for parameters
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#if HAL_NAVEKF2_AVAILABLE
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NavEKF2 EKF2;
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#endif
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#if HAL_NAVEKF3_AVAILABLE
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NavEKF3 EKF3;
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#endif
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// for holding parameters
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static const struct AP_Param::GroupInfo var_info[];
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// create a view
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AP_AHRS_View *create_view(enum Rotation rotation, float pitch_trim_deg=0);
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// write AOA and SSA information to dataflash logs:
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void Write_AOA_SSA(void) const;
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// return AOA
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float getAOA(void) const { return _AOA; }
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// return SSA
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float getSSA(void) const { return _SSA; }
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/*
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* trim-related functions
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*/
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// get trim
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const Vector3f &get_trim() const { return _trim.get(); }
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// set trim
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void set_trim(const Vector3f &new_trim);
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// add_trim - adjust the roll and pitch trim up to a total of 10 degrees
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void add_trim(float roll_in_radians, float pitch_in_radians, bool save_to_eeprom = true);
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// trim rotation matrices:
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const Matrix3f& get_rotation_autopilot_body_to_vehicle_body(void) const { return _rotation_autopilot_body_to_vehicle_body; }
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const Matrix3f& get_rotation_vehicle_body_to_autopilot_body(void) const { return _rotation_vehicle_body_to_autopilot_body; }
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// Logging functions
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void Log_Write_Home_And_Origin();
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void Write_Attitude(const Vector3f &targets) const;
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enum class LogOriginType {
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ekf_origin = 0,
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ahrs_home = 1
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};
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void Write_Origin(LogOriginType origin_type, const Location &loc) const;
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void write_video_stabilisation() const;
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// return a smoothed and corrected gyro vector in radians/second
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// using the latest ins data (which may not have been consumed by
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// the EKF yet)
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Vector3f get_gyro_latest(void) const;
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// get yaw rate in earth frame in radians/sec
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float get_yaw_rate_earth(void) const {
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return get_gyro() * get_rotation_body_to_ned().c;
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}
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/*
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* home-related functionality
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*/
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// get the home location. This is const to prevent any changes to
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// home without telling AHRS about the change
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const struct Location &get_home(void) const {
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return _home;
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}
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// functions to handle locking of home. Some vehicles use this to
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// allow GCS to lock in a home location.
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void lock_home() {
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_home_locked = true;
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}
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bool home_is_locked() const {
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return _home_locked;
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}
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// returns true if home is set
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bool home_is_set(void) const {
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return _home_is_set;
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}
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// set the home location in 10e7 degrees. This should be called
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// when the vehicle is at this position. It is assumed that the
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// current barometer and GPS altitudes correspond to this altitude
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bool set_home(const Location &loc) WARN_IF_UNUSED;
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/*
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* Attitude-related public methods and attributes:
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*/
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// roll/pitch/yaw euler angles, all in radians
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float roll;
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float pitch;
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float yaw;
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float get_roll() const { return roll; }
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float get_pitch() const { return pitch; }
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float get_yaw() const { return yaw; }
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// helper trig value accessors
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float cos_roll() const {
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return _cos_roll;
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}
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float cos_pitch() const {
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return _cos_pitch;
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}
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float cos_yaw() const {
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return _cos_yaw;
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}
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float sin_roll() const {
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return _sin_roll;
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}
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float sin_pitch() const {
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return _sin_pitch;
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}
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float sin_yaw() const {
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return _sin_yaw;
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}
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// integer Euler angles (Degrees * 100)
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int32_t roll_sensor;
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int32_t pitch_sensor;
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int32_t yaw_sensor;
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const Matrix3f &get_rotation_body_to_ned(void) const;
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// return a Quaternion representing our current attitude in NED frame
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void get_quat_body_to_ned(Quaternion &quat) const {
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quat.from_rotation_matrix(get_rotation_body_to_ned());
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}
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// get rotation matrix specifically from DCM backend (used for
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// compass calibrator)
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const Matrix3f &get_DCM_rotation_body_to_ned(void) const {
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return dcm_estimates.dcm_matrix;
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}
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// rotate a 2D vector from earth frame to body frame
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// in result, x is forward, y is right
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Vector2f earth_to_body2D(const Vector2f &ef_vector) const;
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// rotate a 2D vector from earth frame to body frame
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// in input, x is forward, y is right
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Vector2f body_to_earth2D(const Vector2f &bf) const;
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// convert a vector from body to earth frame
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Vector3f body_to_earth(const Vector3f &v) const {
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return v * get_rotation_body_to_ned();
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}
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// convert a vector from earth to body frame
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Vector3f earth_to_body(const Vector3f &v) const {
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return get_rotation_body_to_ned().mul_transpose(v);
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}
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/*
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* methods for the benefit of LUA bindings
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*/
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// return current vibration vector for primary IMU
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Vector3f get_vibration(void) const;
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// return primary accels, for lua
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const Vector3f &get_accel(void) const {
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return AP::ins().get_accel();
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}
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// return primary accel bias. This should be subtracted from
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// get_accel() vector to get best current body frame accel
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// estimate
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const Vector3f &get_accel_bias(void) const {
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return _accel_bias;
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}
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/*
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* AHRS is used as a transport for vehicle-takeoff-expected and
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* vehicle-landing-expected:
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*/
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void set_takeoff_expected(bool b);
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bool get_takeoff_expected(void) const {
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return takeoff_expected;
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}
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void set_touchdown_expected(bool b);
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bool get_touchdown_expected(void) const {
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return touchdown_expected;
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}
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/*
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* fly_forward is set by the vehicles to indicate the vehicle
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* should generally be moving in the direction of its heading.
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* It is an additional piece of information that the backends can
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* use to provide additional and/or improved estimates.
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*/
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void set_fly_forward(bool b) {
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fly_forward = b;
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}
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bool get_fly_forward(void) const {
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return fly_forward;
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}
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/* we modify our behaviour based on what sort of vehicle the
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* vehicle code tells us we are. This information is also pulled
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* from AP_AHRS by other libraries
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*/
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enum class VehicleClass : uint8_t {
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UNKNOWN,
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GROUND,
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COPTER,
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FIXED_WING,
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SUBMARINE,
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};
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VehicleClass get_vehicle_class(void) const {
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return _vehicle_class;
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}
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void set_vehicle_class(VehicleClass vclass) {
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_vehicle_class = vclass;
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}
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// get the view's rotation, or ROTATION_NONE
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enum Rotation get_view_rotation(void) const;
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// get access to an EKFGSF_yaw estimator
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const EKFGSF_yaw *get_yaw_estimator(void) const;
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private:
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// optional view class
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AP_AHRS_View *_view;
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static AP_AHRS *_singleton;
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/* we modify our behaviour based on what sort of vehicle the
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* vehicle code tells us we are. This information is also pulled
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* from AP_AHRS by other libraries
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*/
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VehicleClass _vehicle_class{VehicleClass::UNKNOWN};
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// multi-thread access support
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HAL_Semaphore _rsem;
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/*
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* Parameters
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*/
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AP_Int8 _wind_max;
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AP_Int8 _board_orientation;
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AP_Int8 _ekf_type;
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/*
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* DCM-backend parameters; it takes references to these
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*/
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// settable parameters
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AP_Float _kp_yaw;
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AP_Float _kp;
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AP_Float gps_gain;
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AP_Float beta;
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AP_Enum<GPSUse> _gps_use;
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AP_Int8 _gps_minsats;
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enum class EKFType {
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NONE = 0
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#if HAL_NAVEKF3_AVAILABLE
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,THREE = 3
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#endif
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#if HAL_NAVEKF2_AVAILABLE
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,TWO = 2
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#endif
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#if AP_AHRS_SIM_ENABLED
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,SIM = 10
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#endif
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#if HAL_EXTERNAL_AHRS_ENABLED
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,EXTERNAL = 11
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#endif
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};
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EKFType active_EKF_type(void) const;
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// if successful returns true and sets secondary_ekf_type to None (for DCM), EKF3 or EKF3
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// returns false if no secondary (i.e. only using DCM)
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bool get_secondary_EKF_type(EKFType &secondary_ekf_type) const;
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bool always_use_EKF() const {
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return _ekf_flags & FLAG_ALWAYS_USE_EKF;
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}
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/*
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* Attitude-related private methods and attributes:
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*/
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// calculate sin/cos of roll/pitch/yaw from rotation
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void calc_trig(const Matrix3f &rot,
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float &cr, float &cp, float &cy,
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float &sr, float &sp, float &sy) const;
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// update_trig - recalculates _cos_roll, _cos_pitch, etc based on latest attitude
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// should be called after _dcm_matrix is updated
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void update_trig(void);
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// update roll_sensor, pitch_sensor and yaw_sensor
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void update_cd_values(void);
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// helper trig variables
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float _cos_roll{1.0f};
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float _cos_pitch{1.0f};
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float _cos_yaw{1.0f};
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float _sin_roll;
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float _sin_pitch;
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float _sin_yaw;
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#if HAL_NAVEKF2_AVAILABLE
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void update_EKF2(void);
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bool _ekf2_started;
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#endif
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#if HAL_NAVEKF3_AVAILABLE
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bool _ekf3_started;
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void update_EKF3(void);
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#endif
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// rotation from vehicle body to NED frame
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Matrix3f _dcm_matrix;
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Vector3f _gyro_drift;
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Vector3f _gyro_estimate;
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Vector3f _accel_ef_ekf[INS_MAX_INSTANCES];
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Vector3f _accel_ef_ekf_blended;
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Vector3f _accel_bias;
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const uint16_t startup_delay_ms = 1000;
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uint32_t start_time_ms;
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uint8_t _ekf_flags; // bitmask from Flags enumeration
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EKFType ekf_type(void) const;
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void update_DCM();
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// get the index of the current primary IMU
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uint8_t get_primary_IMU_index(void) const;
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/*
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* home-related state
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*/
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void load_watchdog_home();
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bool _checked_watchdog_home;
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struct Location _home;
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bool _home_is_set :1;
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bool _home_locked :1;
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// avoid setting current state repeatedly across all cores on all EKFs:
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enum class TriState {
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False = 0,
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True = 1,
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UNKNOWN = 3,
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};
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TriState terrainHgtStableState = TriState::UNKNOWN;
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/*
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* private AOA and SSA-related state and methods
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*/
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float _AOA, _SSA;
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uint32_t _last_AOA_update_ms;
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void update_AOA_SSA(void);
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EKFType last_active_ekf_type;
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#if AP_AHRS_SIM_ENABLED
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SITL::SIM *_sitl;
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uint32_t _last_body_odm_update_ms;
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void update_SITL(void);
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#endif
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#if HAL_EXTERNAL_AHRS_ENABLED
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void update_external(void);
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#endif
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/*
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* trim-related state and private methods:
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*/
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// a vector to capture the difference between the controller and body frames
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AP_Vector3f _trim;
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// cached trim rotations
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Vector3f _last_trim;
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Matrix3f _rotation_autopilot_body_to_vehicle_body;
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Matrix3f _rotation_vehicle_body_to_autopilot_body;
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// updates matrices responsible for rotating vectors from vehicle body
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// frame to autopilot body frame from _trim variables
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void update_trim_rotation_matrices();
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/*
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* AHRS is used as a transport for vehicle-takeoff-expected and
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* vehicle-landing-expected:
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*/
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// update takeoff/touchdown flags
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void update_flags();
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bool takeoff_expected; // true if the vehicle is in a state that takeoff might be expected. Ground effect may be in play.
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uint32_t takeoff_expected_start_ms;
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bool touchdown_expected; // true if the vehicle is in a state that touchdown might be expected. Ground effect may be in play.
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uint32_t touchdown_expected_start_ms;
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/*
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* wind estimation support
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*/
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bool wind_estimation_enabled;
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/*
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* fly_forward is set by the vehicles to indicate the vehicle
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* should generally be moving in the direction of its heading.
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* It is an additional piece of information that the backends can
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* use to provide additional and/or improved estimates.
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*/
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bool fly_forward; // true if we can assume the vehicle will be flying forward on its X axis
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// poke AP_Notify based on values from status
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void update_notify_from_filter_status(const nav_filter_status &status);
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/*
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* backends (and their results)
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*/
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AP_AHRS_DCM dcm{_kp_yaw, _kp, gps_gain, beta, _gps_use, _gps_minsats};
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struct AP_AHRS_Backend::Estimates dcm_estimates;
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/*
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* copy results from a backend over AP_AHRS canonical results.
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* This updates member variables like roll and pitch, as well as
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* updating derived values like sin_roll and sin_pitch.
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*/
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void copy_estimates_from_backend_estimates(const AP_AHRS_Backend::Estimates &results);
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// write out secondary estimates:
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void Write_AHRS2(void) const;
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// write POS (canonical vehicle position) message out:
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void Write_POS(void) const;
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#if HAL_NMEA_OUTPUT_ENABLED
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class AP_NMEA_Output* _nmea_out;
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#endif
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};
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namespace AP {
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AP_AHRS &ahrs();
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};
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