Peter Barker
7f4a4a99d6
AP_AHRS: move home and origin methods to frontend
2021-08-05 10:37:47 +10:00
Peter Barker
d131cf01d3
AP_AHRS: use compass reference rather than pointer
2021-07-30 17:37:08 +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
a4d98a457b
AP_AHRS: move init of dcm state into variable declarations
2021-07-23 09:55:14 +10:00
Peter Barker
d351b7c7dc
AP_AHRS: fix includes for moved files
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
ee0a373b60
AP_AHRS: remove HIL support
2021-06-15 09:47:31 +10:00
Randy Mackay
62932f884f
AP_AHRS: pre_arm_check may skip position checks
2021-01-26 10:46:49 +11:00
Randy Mackay
1d97416a51
AP_AHRS: replace prearm_healthy with pre_arm_check
...
Also removes prearm_failure_reason
2020-10-07 11:53:07 +11:00
Harshit Kumar Sankhla
b5b3298f0a
AP_AHRS: get airspeed estimate from non-primary instances too
...
with multiple airspeed sensors and airspeed affinity in EKF3,
it is possible to have switched over to a lane not using the
primary airspeed sensor, so AHRS should know which airspeed
sensor to use, i.e, the one being used by the primary lane.
2020-08-27 20:20:51 +10:00
Peter Barker
4e12f16608
AP_AHRS: provide accessor for synthetic airspeed
2020-08-04 23:12:03 +10:00
Randy Mackay
b0b78e974b
AP_AHRS: add get_quaternion
2020-04-09 19:41:08 +09:00
Peter Hall
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
2020-01-14 22:34:37 -07:00
Andrew Tridgell
74e56ab8cc
AP_AHRS: use new persistent_data interface
2019-05-15 15:33:48 +10:00
Andrew Tridgell
f7026b854e
AP_AHRS: added save/restore of attitude in backup registers
2019-04-22 16:53:35 +10:00
Andrew Tridgell
b8605c9ee6
AP_AHRS: save/restore home to backup registers
...
restore on watchdog reset
# Conflicts:
# libraries/AP_AHRS/AP_AHRS_DCM.cpp
2019-04-22 16:53:35 +10:00
Andrew Tridgell
2ffded4dd7
AP_AHRS: implement get_velocity_NED() for DCM
2019-03-19 14:39:04 +11:00
Michael du Breuil
2ed1757353
AP_AHRS: Remove unused uptime
2019-03-19 11:42:54 +11:00
Randy Mackay
b202270d1a
AP_AHRS: minor format fixes
2019-02-22 13:00:07 +09:00
Peter Barker
2e403bfd52
AP_AHRS: make setting of home boolean in preparation for sanity checks
2019-02-15 08:28:45 +11:00
Andrew Tridgell
1056e64419
AP_AHRS: added get_DCM_rotation_body_to_ned()
...
this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
2018-07-18 16:07:19 +10:00
Peter Barker
355752ebb8
AP_AHRS: remove pointless initialisations
...
These are either in bss or new'd.
Saves ~130 bytes
2018-04-04 10:14:40 +01:00
Peter Barker
1dabcc473d
AP_AHRS: use ins singleton
2018-03-16 00:37:35 -07:00
Peter Barker
024b29858d
AP_AHRS: use baro singleton
2018-03-08 21:20:05 -08:00
Peter Barker
e15442355a
AP_AHRS: use GPS singleton
2017-12-27 00:58:02 +00:00
khancyr
d89d496c8f
AP_AHRS: make getter const
2017-12-18 22:43:59 +00:00
Andrew Tridgell
0ccaa5bcba
AP_AHRS: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Lucas De Marchi
cd1ff7b86f
AP_AHRS: DCM: add static create method
2017-09-26 03:01:21 +01:00
Andrew Tridgell
a11dca5229
AP_AHRS: added optional skip_ins_update to AHRS::update()
...
avoid the ins update if already done in copter fast_loop()
2017-04-03 13:04:11 +09:00
Peter Barker
e744460ff5
AP_AHRS: mark many functions as override
...
Also take the opportunity to remove void parameter
2017-02-24 21:13:08 +11:00
Peter Barker
4ed7fb154f
AP_AHRS: supply missing get_relative_position_D_home
...
Simply returns the baro altitude (like EKF does if it lacks
position)
2017-02-24 21:13:08 +11:00
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
Lucas De Marchi
e0153faa85
AP_AHRS: replace header guard with pragma once
2016-03-16 18:40:40 +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
da86e29c27
AP_AHRS: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:14 +11:00
Andrew Tridgell
0677c2c80c
AP_AHRS: run astyle for formatting
2015-09-23 17:31:00 +10:00
Andrew Tridgell
7a76f72bf5
AP_AHRS: added uptime_ms() interface
2015-05-20 15:22:14 +10:00
Andrew Tridgell
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
2015-04-28 14:07:39 +10:00
Tom Pittenger
e28c555889
AHRS_DCM: fix compile warnings re float constants
...
Also fix example sketch
2015-04-24 12:26:08 +09:00
Andrew Tridgell
a0969905ce
AP_AHRS: make get_error_rp() and get_error_yaw() const
...
this makes them usable by multiple consumers, and allows use by EKF
2015-04-21 21:42:17 +10:00
Andrew Tridgell
68f64fa11c
AP_AHRS: make the healthy() method const
2015-02-01 14:13:52 +11:00
Randy Mackay
4452aa8448
AP_AHRS_DCM: compile error fix for low speed CPUs
...
Also correct initialisatoin order to remove compiler warning
2014-12-05 19:43:05 +09:00
Jonathan Challinger
4975cefd84
AP_AHRS_DCM: update _accel_ef_blended
2014-12-05 19:40:06 +09:00
Randy Mackay
dffcfb42bc
AHRS: add reset_gyro_drift method
2014-10-28 20:25:33 +09:00
Andrew Tridgell
270bac4472
AP_AHRS: make get_position() const
...
This allows use from within AP_Mission
2014-10-20 08:36:20 +11:00
Randy Mackay
85eee31510
AHRS: rename ekfNotStarted method to initialised
...
Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
2014-10-02 14:40:54 +09:00
priseborough
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
2014-10-02 14:38:29 +09:00
Randy Mackay
a6de3283b6
AHRS_DCM: init members to resolve compiler warnings
2014-08-14 11:27:31 +09:00
Andrew Tridgell
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
...
this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
2014-07-13 21:56:39 +10:00
Jonathan Challinger
61987f6655
AP_AHRS: Fixed DCM get_gyro function
...
Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
2014-07-13 21:19:29 +10:00
