AHRS_Test.cpp File Reference

#include <AP_ADC/AP_ADC.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <GCS_MAVLink/GCS_Dummy.h>

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Classes
class	DummyVehicle
class	GCS_MAVLINK
	MAVLink transport control class. More...

Functions
void	setup ()
void	loop ()
	AP_HAL_MAIN ()

Variables
const AP_HAL::HAL &	hal = AP_HAL::get_HAL()
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...
static AP_BoardConfig	board_config
static AP_InertialSensor	ins
static Compass	compass
static AP_GPS	gps
static AP_Baro	barometer
static AP_SerialManager	serial_manager
static DummyVehicle	vehicle
AP_AHRS_NavEKF &	ahrs = vehicle.ahrs
GCS_Dummy	_gcs

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

loop()

void loop

(

void

)

Definition at line 57 of file AHRS_Test.cpp.

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setup()

void setup

(

void

)

Definition at line 41 of file AHRS_Test.cpp.

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Variable Documentation

_gcs

GCS_Dummy _gcs

Definition at line 101 of file AHRS_Test.cpp.

ahrs

AP_AHRS_NavEKF& ahrs = vehicle.ahrs

Definition at line 39 of file AHRS_Test.cpp.

Referenced by GCS_MAVLINK::_set_mode_common(), DataFlash_Class::Log_Write_POS(), GCS_MAVLINK::send_ahrs(), GCS_MAVLINK::send_ahrs2(), GCS_MAVLINK::send_attitude(), GCS_MAVLINK::send_global_position_int(), GCS_MAVLINK::send_local_position(), GCS_MAVLINK::send_vfr_hud(), Location_Class::set_ahrs(), GCS_MAVLINK::set_ekf_origin(), and DataFlash_Class::WritesEnabled().

barometer

AP_Baro barometer

static

Definition at line 23 of file AHRS_Test.cpp.

Referenced by GCS_MAVLINK::send_scaled_pressure(), GCS_MAVLINK::send_scaled_pressure3(), and GCS_MAVLINK::send_sensor_offsets().

board_config

AP_BoardConfig board_config

static

Definition at line 17 of file AHRS_Test.cpp.

compass

Compass compass

static

Definition at line 20 of file AHRS_Test.cpp.

Referenced by GCS_MAVLINK::handle_command_mag_cal(), GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(), GCS_MAVLINK::send_raw_imu(), GCS_MAVLINK::send_sensor_offsets(), AP_AHRS::set_compass(), GCS_MAVLINK::try_send_compass_message(), and DataFlash_Class::WritesEnabled().

gps

AP_GPS gps

static

Definition at line 22 of file AHRS_Test.cpp.

Referenced by AP_Frsky_Telem::calc_gps_status(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), AP_ADSB::genICAO(), NavEKF2_core::getLLH(), NavEKF3_core::getLLH(), AP_Arming::gps_checks(), DataFlash_Class::Log_Write_CameraInfo(), DataFlash_Class::Log_Write_GPS(), DataFlash_Class::Log_Write_POS(), NavEKF2_core::readGpsData(), NavEKF3_core::readGpsData(), AP_ADSB::send_dynamic_out(), and AP_DEVO_Telem::send_frames().

hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

The strategy for roll/pitch autotune is to give the user a AUTOTUNE flight mode which behaves just like FBWA, but does automatic tuning.

While the user is flying in AUTOTUNE the gains are saved every 10 seconds, but the saved gains are not the current gains, instead it saves the gains from 10s ago. When the user exits AUTOTUNE the gains are restored from 10s ago.

This allows the user to fly as much as they want in AUTOTUNE mode, and if they are ever unhappy they just exit the mode. If they stay in AUTOTUNE for more than 10s then their gains will have changed.

Using this approach users don't need any special switches, they just need to be able to enter and exit AUTOTUNE mode

Definition at line 14 of file AHRS_Test.cpp.

ins

AP_InertialSensor ins

static

Definition at line 18 of file AHRS_Test.cpp.

Referenced by NavEKF2_core::detectOptFlowTakeoff(), NavEKF3_core::detectOptFlowTakeoff(), NavEKF3::InitialiseFilter(), NavEKF2::InitialiseFilter(), NavEKF2_core::InitialiseFilterBootstrap(), NavEKF2_core::InitialiseVariables(), NavEKF3_core::InitialiseVariables(), AP_Arming::ins_checks(), DataFlash_Class::Log_Write_IMU(), DataFlash_Class::Log_Write_IMU_instance(), DataFlash_Class::Log_Write_IMUDT(), DataFlash_Class::Log_Write_IMUDT_instance(), DataFlash_Class::Log_Write_Vibration(), AP_Compass_AK8963::probe_mpu9250(), NavEKF2_core::readDeltaAngle(), NavEKF3_core::readDeltaAngle(), NavEKF2_core::readDeltaVelocity(), NavEKF3_core::readDeltaVelocity(), NavEKF2_core::readIMUData(), NavEKF3_core::readIMUData(), GCS_MAVLINK::send_raw_imu(), GCS_MAVLINK::send_sensor_offsets(), GCS_MAVLINK::send_vibration(), NavEKF3::UpdateFilter(), and NavEKF2::UpdateFilter().

serial_manager

AP_SerialManager serial_manager

static

Definition at line 24 of file AHRS_Test.cpp.

Referenced by AP_Mount_Alexmos::AP_Mount_Alexmos(), AP_Mount_Servo::AP_Mount_Servo(), AP_SBusOut::init(), AP_Volz_Protocol::init(), GCS::instance(), GCS_MAVLINK::setup_uart(), and AP_Mount_Backend::~AP_Mount_Backend().

vehicle

DummyVehicle vehicle

static

Definition at line 35 of file AHRS_Test.cpp.

Referenced by AP_Avoidance::get_adsb_samples(), AP_ADSB::get_transceiver_status(), AP_ADSB::handle_vehicle(), AP_ADSB::send_adsb_vehicle(), SITL::ADSB::send_report(), and AP_ADSB::set_vehicle().