#include <AP_AHRS.h>

Inheritance diagram for AP_AHRS:

Collaboration diagram for AP_AHRS:

Classes
struct	ahrs_flags

Public Member Functions
	AP_AHRS ()

virtual	~AP_AHRS ()

virtual void	init ()

void	set_fly_forward (bool b)

bool	get_fly_forward (void) const

void	set_likely_flying (bool b)

bool	get_likely_flying (void) const

uint32_t	get_time_flying_ms (void) const

AHRS_VehicleClass	get_vehicle_class (void) const

void	set_vehicle_class (AHRS_VehicleClass vclass)

void	set_wind_estimation (bool b)

void	set_compass (Compass *compass)

const Compass *	get_compass () const

void	set_optflow (const OpticalFlow *optflow)

const OpticalFlow *	get_optflow () const

void	set_orientation ()

void	set_airspeed (AP_Airspeed *airspeed)

void	set_beacon (AP_Beacon *beacon)

const AP_Airspeed *	get_airspeed (void) const

const AP_Beacon *	get_beacon (void) const

virtual uint8_t	get_primary_accel_index (void) const

virtual uint8_t	get_primary_gyro_index (void) const

virtual const Vector3f &	get_accel_ef (uint8_t i) const

virtual const Vector3f &	get_accel_ef (void) const

virtual const Vector3f &	get_accel_ef_blended (void) const

float	get_yaw_rate_earth (void) const

virtual void	update (bool skip_ins_update=false)=0

virtual const char *	prearm_failure_reason (void) const

virtual bool	have_ekf_logging (void) const

virtual const Vector3f &	get_gyro (void) const =0

Vector3f	get_gyro_latest (void) const

virtual const Vector3f &	get_gyro_drift (void) const =0

virtual void	reset_gyro_drift (void)=0

virtual void	reset (bool recover_eulers=false)=0

virtual void	reset_attitude (const float &roll, const float &pitch, const float &yaw)=0

virtual float	get_error_rp (void) const =0

virtual float	get_error_yaw (void) const =0

virtual const Matrix3f &	get_rotation_body_to_ned (void) const =0

const Matrix3f &	get_rotation_autopilot_body_to_vehicle_body (void) const

const Matrix3f &	get_rotation_vehicle_body_to_autopilot_body (void) const

virtual bool	get_position (struct Location &loc) const =0

virtual bool	get_hagl (float &height) const

virtual Vector3f	wind_estimate (void) const =0

virtual bool	airspeed_estimate (float *airspeed_ret) const

bool	airspeed_estimate_true (float *airspeed_ret) const

float	get_EAS2TAS (void) const

bool	airspeed_sensor_enabled (void) const

virtual Vector2f	groundspeed_vector (void)

virtual bool	get_velocity_NED (Vector3f &vec) const

virtual bool	get_expected_mag_field_NED (Vector3f &ret) const

virtual bool	get_mag_field_correction (Vector3f &ret) const

virtual bool	get_relative_position_NED_home (Vector3f &vec) const

virtual bool	get_relative_position_NED_origin (Vector3f &vec) const

virtual bool	get_relative_position_NE_home (Vector2f &vecNE) const

virtual bool	get_relative_position_NE_origin (Vector2f &vecNE) const

virtual void	get_relative_position_D_home (float &posD) const =0

virtual bool	get_relative_position_D_origin (float &posD) const

float	groundspeed (void)

virtual bool	use_compass (void)

bool	yaw_initialised (void) const

void	set_correct_centrifugal (bool setting)

bool	get_correct_centrifugal (void) const

const Vector3f &	get_trim () const

virtual void	set_trim (Vector3f new_trim)

virtual void	add_trim (float roll_in_radians, float pitch_in_radians, bool save_to_eeprom=true)

float	cos_roll () const

float	cos_pitch () const

float	cos_yaw () const

float	sin_roll () const

float	sin_pitch () const

float	sin_yaw () const

virtual bool	get_secondary_attitude (Vector3f &eulers) const

virtual bool	get_secondary_quaternion (Quaternion &quat) const

virtual bool	get_secondary_position (struct Location &loc) const

const struct Location &	get_home (void) const

void	lock_home ()

bool	home_is_locked () const

bool	home_is_set (void) const

virtual void	set_home (const Location &loc)=0

virtual bool	set_origin (const Location &loc)

virtual bool	get_origin (Location &ret) const

void	Log_Write_Home_And_Origin ()

virtual bool	have_inertial_nav (void) const

uint8_t	get_active_accel_instance (void) const

virtual bool	healthy (void) const =0

virtual bool	initialised (void) const

virtual uint32_t	getLastYawResetAngle (float &yawAng) const

virtual uint32_t	getLastPosNorthEastReset (Vector2f &pos) const

virtual uint32_t	getLastVelNorthEastReset (Vector2f &vel) const

virtual uint32_t	getLastPosDownReset (float &posDelta) const

virtual bool	resetHeightDatum (void)

virtual bool	get_variances (float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const

virtual uint32_t	uptime_ms (void) const =0

int8_t	get_ekf_type (void) const

virtual void	getCorrectedDeltaVelocityNED (Vector3f &ret, float &dt) const

AP_AHRS_View *	create_view (enum Rotation rotation)

float	getAOA (void)

float	getSSA (void)

Vector2f	rotate_earth_to_body2D (const Vector2f &ef_vector) const

Vector2f	rotate_body_to_earth2D (const Vector2f &bf) const

virtual void	update_AOA_SSA (void)

virtual bool	get_hgt_ctrl_limit (float &limit) const

virtual void	writeExtNavData (const Vector3f &sensOffset, const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms)

Static Public Member Functions
static AP_AHRS *	get_singleton ()

Public Attributes
float	roll

float	pitch

float	yaw

int32_t	roll_sensor

int32_t	pitch_sensor

int32_t	yaw_sensor

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Protected Member Functions
void	calc_trig (const Matrix3f &rot, float &cr, float &cp, float &cy, float &sr, float &sp, float &sy) const

void	update_trig (void)

void	update_cd_values (void)

Protected Attributes
AHRS_VehicleClass	_vehicle_class

AP_Float	_kp_yaw

AP_Float	_kp

AP_Float	gps_gain

AP_Float	beta

AP_Int8	_gps_use

AP_Int8	_wind_max

AP_Int8	_board_orientation

AP_Int8	_gps_minsats

AP_Int8	_gps_delay

AP_Int8	_ekf_type

AP_Float	_custom_roll

AP_Float	_custom_pitch

AP_Float	_custom_yaw

Matrix3f	_custom_rotation

struct AP_AHRS::ahrs_flags	_flags

uint32_t	_last_flying_ms

Compass *	_compass

const OpticalFlow *	_optflow

AP_Airspeed *	_airspeed

AP_Beacon *	_beacon

uint32_t	_compass_last_update

AP_Vector3f	_trim

Vector3f	_last_trim

Matrix3f	_rotation_autopilot_body_to_vehicle_body

Matrix3f	_rotation_vehicle_body_to_autopilot_body

float	_gyro_drift_limit

Vector3f	_accel_ef [INS_MAX_INSTANCES]

Vector3f	_accel_ef_blended

Vector2f	_lp

Vector2f	_hp

Vector2f	_lastGndVelADS

struct Location	_home

bool	_home_is_set:1

bool	_home_locked:1

float	_cos_roll

float	_cos_pitch

float	_cos_yaw

float	_sin_roll

float	_sin_pitch

float	_sin_yaw

uint8_t	_active_accel_instance

AP_AHRS_View *	_view

float	_AOA

float	_SSA

uint32_t	_last_AOA_update_ms

Static Private Attributes
static AP_AHRS *	_singleton

Friends
class	AP_AHRS_View

Detailed Description

Definition at line 50 of file AP_AHRS.h.

Constructor & Destructor Documentation

◆ AP_AHRS()

AP_AHRS::AP_AHRS ( )

inline

Definition at line 56 of file AP_AHRS.h.

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◆ ~AP_AHRS()

virtual AP_AHRS::~AP_AHRS ( )

inlinevirtual

Definition at line 80 of file AP_AHRS.h.

Member Function Documentation

◆ add_trim()

void AP_AHRS::add_trim	(	float	roll_in_radians,
		float	pitch_in_radians,
		bool	save_to_eeprom = `true`
	)

virtual

Definition at line 199 of file AP_AHRS.cpp.

Referenced by get_trim().

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◆ airspeed_estimate()

bool AP_AHRS::airspeed_estimate ( float * airspeed_ret ) const

virtual

Reimplemented in AP_AHRS_DCM, and AP_AHRS_NavEKF.

Definition at line 170 of file AP_AHRS.cpp.

Referenced by AP_PitchController::_get_coordination_rate_offset(), AP_RollController::_get_rate_out(), AP_TECS::_update_speed(), AP_AHRS_View::airspeed_estimate(), airspeed_estimate_true(), get_hagl(), AP_PitchController::get_rate_out(), AP_YawController::get_servo_out(), AP_Landing_Deepstall::override_servos(), and Variometer::update().

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◆ airspeed_estimate_true()

bool AP_AHRS::airspeed_estimate_true ( float * airspeed_ret ) const

inline

Definition at line 281 of file AP_AHRS.h.

Referenced by AP_AHRS_View::airspeed_estimate_true(), and groundspeed_vector().

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◆ airspeed_sensor_enabled()

bool AP_AHRS::airspeed_sensor_enabled ( void ) const

inline

Definition at line 299 of file AP_AHRS.h.

Referenced by AP_TECS::_update_pitch(), AP_TECS::_update_speed(), AP_AHRS_DCM::airspeed_estimate(), airspeed_estimate(), NavEKF2_core::detectFlight(), NavEKF3_core::detectFlight(), AP_AHRS_DCM::drift_correction(), AP_AHRS_DCM::estimate_wind(), NavEKF3_core::setup_core(), AP_TECS::update_pitch_throttle(), NavEKF2_core::useAirspeed(), and NavEKF3_core::useAirspeed().

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◆ calc_trig()

void AP_AHRS::calc_trig	(	const Matrix3f &	rot,
		float &	cr,
		float &	cp,
		float &	cy,
		float &	sr,
		float &	sp,
		float &	sy
	)		const

protected

Definition at line 290 of file AP_AHRS.cpp.

Referenced by AP_AHRS_View::update(), and update_trig().

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◆ cos_pitch()

float AP_AHRS::cos_pitch ( ) const

inline

Definition at line 399 of file AP_AHRS.h.

◆ cos_roll()

float AP_AHRS::cos_roll ( ) const

inline

Definition at line 396 of file AP_AHRS.h.

◆ cos_yaw()

float AP_AHRS::cos_yaw ( ) const

inline

Definition at line 402 of file AP_AHRS.h.

Referenced by AC_Avoid::adjust_velocity_polygon(), and AR_AttitudeControl::get_forward_speed().

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◆ create_view()

AP_AHRS_View * AP_AHRS::create_view ( enum Rotation rotation )

Definition at line 364 of file AP_AHRS.cpp.

Referenced by getCorrectedDeltaVelocityNED().

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◆ get_accel_ef() [1/2]

virtual const Vector3f& AP_AHRS::get_accel_ef ( uint8_t i ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 193 of file AP_AHRS.h.

Referenced by AP_TECS::update_50hz().

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◆ get_accel_ef() [2/2]

virtual const Vector3f& AP_AHRS::get_accel_ef ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 196 of file AP_AHRS.h.

Referenced by AP_AHRS_NavEKF::get_accel_ef().

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◆ get_accel_ef_blended()

virtual const Vector3f& AP_AHRS::get_accel_ef_blended ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 201 of file AP_AHRS.h.

Referenced by AP_AHRS_NavEKF::get_accel_ef_blended(), AP_AHRS_View::get_accel_ef_blended(), and DataFlash_Class::Log_Write_Rate().

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◆ get_active_accel_instance()

uint8_t AP_AHRS::get_active_accel_instance ( void ) const

inline

Definition at line 475 of file AP_AHRS.h.

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◆ get_airspeed()

const AP_Airspeed* AP_AHRS::get_airspeed ( void ) const

inline

Definition at line 174 of file AP_AHRS.h.

Referenced by AP_Arming::airspeed_checks(), AP_Frsky_Telem::calc_velandyaw(), NavEKF2_core::detectFlight(), NavEKF3_core::detectFlight(), NavEKF2_core::readAirSpdData(), and NavEKF3_core::readAirSpdData().

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◆ get_beacon()

const AP_Beacon* AP_AHRS::get_beacon ( void ) const

inline

Definition at line 178 of file AP_AHRS.h.

Referenced by DataFlash_Class::Log_Write_POS(), NavEKF2_core::readRngBcnData(), and NavEKF3_core::readRngBcnData().

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◆ get_compass()

const Compass* AP_AHRS::get_compass ( ) const

inline

Definition at line 150 of file AP_AHRS.h.

Referenced by NavEKF2_core::alignMagStateDeclination(), NavEKF3_core::alignMagStateDeclination(), SoloGimbalEKF::calcMagHeadingInnov(), NavEKF2_core::calcQuatAndFieldStates(), NavEKF3_core::calcQuatAndFieldStates(), NavEKF3::check_log_write(), NavEKF2::check_log_write(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::getMagOffsets(), NavEKF3_core::getMagOffsets(), NavEKF2_core::InitialiseVariables(), NavEKF3_core::InitialiseVariables(), SoloGimbalEKF::readMagData(), NavEKF2_core::readMagData(), NavEKF3_core::readMagData(), NavEKF2_core::use_compass(), and NavEKF3_core::use_compass().

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◆ get_correct_centrifugal()

bool AP_AHRS::get_correct_centrifugal ( void ) const

inline

Definition at line 380 of file AP_AHRS.h.

◆ get_EAS2TAS()

float AP_AHRS::get_EAS2TAS ( void ) const

inline

Definition at line 290 of file AP_AHRS.h.

Referenced by AP_PitchController::_get_coordination_rate_offset(), AP_PitchController::_get_rate_out(), AP_RollController::_get_rate_out(), AP_TECS::_update_speed(), AP_AHRS_DCM::airspeed_estimate(), airspeed_estimate(), airspeed_estimate_true(), AP_AHRS_DCM::estimate_wind(), NavEKF2_core::FuseAirspeed(), NavEKF3_core::FuseAirspeed(), AP_AHRS_View::get_EAS2TAS(), AP_TECS::get_target_airspeed(), AP_L1_Control::loiter_radius(), NavEKF2_core::setWindMagStateLearningMode(), NavEKF3_core::setWindMagStateLearningMode(), and AP_L1_Control::turn_distance().

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◆ get_ekf_type()

int8_t AP_AHRS::get_ekf_type ( void ) const

inline

Definition at line 532 of file AP_AHRS.h.

◆ get_error_rp()

virtual float AP_AHRS::get_error_rp ( void ) const

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by AP_AHRS_View::get_error_rp(), DataFlash_Class::Log_Write_Attitude(), and GCS_MAVLINK::send_ahrs().

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◆ get_error_yaw()

virtual float AP_AHRS::get_error_yaw ( void ) const

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by AP_AHRS_View::get_error_yaw(), DataFlash_Class::Log_Write_Attitude(), and GCS_MAVLINK::send_ahrs().

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◆ get_expected_mag_field_NED()

virtual bool AP_AHRS::get_expected_mag_field_NED ( Vector3f & ret ) const

inlinevirtual

Definition at line 314 of file AP_AHRS.h.

Referenced by AP_AHRS_View::get_expected_mag_field_NED().

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◆ get_fly_forward()

bool AP_AHRS::get_fly_forward ( void ) const

inline

Definition at line 97 of file AP_AHRS.h.

Referenced by NavEKF2_core::assume_zero_sideslip(), and NavEKF3_core::assume_zero_sideslip().

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◆ get_gyro()

virtual const Vector3f& AP_AHRS::get_gyro ( void ) const

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by AP_PitchController::_get_rate_out(), AP_RollController::_get_rate_out(), AP_YawController::get_servo_out(), get_yaw_rate_earth(), DataFlash_Class::Log_Write_Rate(), GCS_MAVLINK::send_attitude(), AP_AHRS_View::update(), and AP_Landing_Deepstall::update_steering().

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◆ get_gyro_drift()

virtual const Vector3f& AP_AHRS::get_gyro_drift ( void ) const

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by get_gyro_latest(), and GCS_MAVLINK::send_ahrs().

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◆ get_gyro_latest()

Vector3f AP_AHRS::get_gyro_latest ( void ) const

Definition at line 163 of file AP_AHRS.cpp.

Referenced by AP_AHRS_View::get_gyro_latest().

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◆ get_hagl()

virtual bool AP_AHRS::get_hagl ( float & height ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 270 of file AP_AHRS.h.

Referenced by GCS_MAVLINK::_set_mode_common().

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◆ get_hgt_ctrl_limit()

virtual bool AP_AHRS::get_hgt_ctrl_limit ( float & limit ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 566 of file AP_AHRS.h.

Referenced by AC_Avoid::adjust_velocity_z().

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◆ get_home()

const struct Location& AP_AHRS::get_home ( void ) const

inline

Definition at line 435 of file AP_AHRS.h.

Referenced by AP_Rally::calc_best_rally_or_home_location(), AP_Frsky_Telem::calc_home(), AP_Frsky_Telem::calc_nav_alt(), AC_Fence::check_destination_within_fence(), AP_Rally::find_nearest_rally_point(), Location_Class::get_alt_cm(), AP_AHRS_NavEKF::get_hagl(), AP_AHRS_NavEKF::get_relative_position_D_origin(), AP_AHRS_NavEKF::get_relative_position_NE_origin(), AP_AHRS_NavEKF::get_relative_position_NED_origin(), NavEKF2_core::InitialiseFilterBootstrap(), NavEKF3_core::InitialiseFilterBootstrap(), DataFlash_Class::Log_Write_CameraInfo(), AP_Rally::rally_location_to_location(), AP_Mission::read_cmd_from_storage(), AP_Camera::send_feedback(), GCS_MAVLINK::send_home(), NavEKF2_core::setOrigin(), NavEKF3_core::setOrigin(), NavEKF2_core::setOriginLLH(), NavEKF3_core::setOriginLLH(), and AP_Mission::write_home_to_storage().

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◆ get_likely_flying()

bool AP_AHRS::get_likely_flying ( void ) const

inline

Definition at line 118 of file AP_AHRS.h.

◆ get_mag_field_correction()

virtual bool AP_AHRS::get_mag_field_correction ( Vector3f & ret ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 319 of file AP_AHRS.h.

◆ get_optflow()

const OpticalFlow* AP_AHRS::get_optflow ( ) const

inline

Definition at line 158 of file AP_AHRS.h.

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◆ get_origin()

virtual bool AP_AHRS::get_origin ( Location & ret ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 464 of file AP_AHRS.h.

Referenced by Log_Write_Home_And_Origin(), and GCS_MAVLINK::set_ekf_origin().

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◆ get_position()

virtual bool AP_AHRS::get_position ( struct Location & loc ) const

pure virtual

Implemented in AP_AHRS_DCM, and AP_AHRS_NavEKF.

Referenced by AP_Frsky_Telem::calc_home(), AP_Frsky_Telem::calc_nav_alt(), AP_Avoidance::check_for_threats(), AP_Mission::get_landing_sequence_start(), AP_AHRS_View::get_position(), get_rotation_vehicle_body_to_autopilot_body(), AP_Avoidance::get_vector_perpendicular(), AP_Arming::gps_checks(), AP_Avoidance::handle_avoidance_local(), SoaringController::init_thermalling(), DataFlash_Class::Log_Write_POS(), AP_DEVO_Telem::send_frames(), GCS_MAVLINK::send_global_position_int(), GCS_MAVLINK::send_vfr_hud(), AP_Landing_Deepstall::terminate(), CompassLearn::update(), AP_L1_Control::update_loiter(), AP_Landing_Deepstall::update_steering(), SoaringController::update_thermalling(), AP_L1_Control::update_waypoint(), and AP_Landing_Deepstall::verify_land().

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◆ get_primary_accel_index()

virtual uint8_t AP_AHRS::get_primary_accel_index ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 183 of file AP_AHRS.h.

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◆ get_primary_gyro_index()

virtual uint8_t AP_AHRS::get_primary_gyro_index ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 188 of file AP_AHRS.h.

Referenced by get_gyro_latest().

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◆ get_relative_position_D_home()

virtual void AP_AHRS::get_relative_position_D_home ( float & posD ) const

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by AC_Avoid::adjust_velocity_z(), SoaringController::get_altitude_wrt_home(), AP_AHRS_View::get_relative_position_D_home(), get_relative_position_NE_origin(), GCS_MAVLINK::global_position_int_relative_alt(), DataFlash_Class::Log_Write_POS(), AP_Landing_Deepstall::request_go_around(), AP_DEVO_Telem::send_frames(), GCS_MAVLINK::send_vfr_hud(), Variometer::update(), AP_TECS::update_50hz(), and AP_Landing_Deepstall::verify_land().

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◆ get_relative_position_D_origin()

virtual bool AP_AHRS::get_relative_position_D_origin ( float & posD ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 354 of file AP_AHRS.h.

Referenced by AC_Avoid::adjust_velocity_z(), AP_AHRS_View::get_relative_position_D_origin(), and DataFlash_Class::Log_Write_POS().

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◆ get_relative_position_NE_home()

virtual bool AP_AHRS::get_relative_position_NE_home ( Vector2f & vecNE ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 338 of file AP_AHRS.h.

Referenced by AC_Avoid::adjust_velocity_circle_fence(), and AP_AHRS_View::get_relative_position_NE_home().

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◆ get_relative_position_NE_origin()

virtual bool AP_AHRS::get_relative_position_NE_origin ( Vector2f & vecNE ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 344 of file AP_AHRS.h.

Referenced by AC_Avoid::adjust_velocity_polygon(), and AP_AHRS_View::get_relative_position_NE_origin().

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◆ get_relative_position_NED_home()

virtual bool AP_AHRS::get_relative_position_NED_home ( Vector3f & vec ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 326 of file AP_AHRS.h.

Referenced by AP_AHRS_View::get_relative_position_NED_home(), and GCS_MAVLINK::send_local_position().

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◆ get_relative_position_NED_origin()

virtual bool AP_AHRS::get_relative_position_NED_origin ( Vector3f & vec ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 333 of file AP_AHRS.h.

Referenced by AP_AHRS_View::get_relative_position_NED_origin(), AP_SmartRTL::set_home(), AP_ICEngine::update(), and AP_SmartRTL::update().

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◆ get_rotation_autopilot_body_to_vehicle_body()

const Matrix3f& AP_AHRS::get_rotation_autopilot_body_to_vehicle_body ( void ) const

inline

Definition at line 263 of file AP_AHRS.h.

Referenced by AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(), AP_AHRS_NavEKF::update_EKF2(), and AP_AHRS_NavEKF::update_SITL().

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◆ get_rotation_body_to_ned()

virtual const Matrix3f& AP_AHRS::get_rotation_body_to_ned ( void ) const

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by AP_TECS::_update_throttle_with_airspeed(), AP_TECS::_update_throttle_without_airspeed(), get_yaw_rate_earth(), AP_AHRS_View::update(), AP_TECS::update_50hz(), update_AOA_SSA(), and update_trig().

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◆ get_rotation_vehicle_body_to_autopilot_body()

const Matrix3f& AP_AHRS::get_rotation_vehicle_body_to_autopilot_body ( void ) const

inline

Definition at line 264 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::euler_angles(), NavEKF2_core::getRotationBodyToNED(), and NavEKF3_core::getRotationBodyToNED().

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◆ get_secondary_attitude()

virtual bool AP_AHRS::get_secondary_attitude ( Vector3f & eulers ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 419 of file AP_AHRS.h.

Referenced by DataFlash_Class::Log_Write_AHRS2(), and GCS_MAVLINK::send_ahrs2().

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◆ get_secondary_position()

virtual bool AP_AHRS::get_secondary_position ( struct Location & loc ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 429 of file AP_AHRS.h.

Referenced by DataFlash_Class::Log_Write_AHRS2().

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◆ get_secondary_quaternion()

virtual bool AP_AHRS::get_secondary_quaternion ( Quaternion & quat ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 424 of file AP_AHRS.h.

Referenced by DataFlash_Class::Log_Write_AHRS2().

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◆ get_singleton()

static AP_AHRS* AP_AHRS::get_singleton ( )

inlinestatic

Definition at line 83 of file AP_AHRS.h.

Referenced by AP::ahrs().

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◆ get_time_flying_ms()

uint32_t AP_AHRS::get_time_flying_ms ( void ) const

inline

Definition at line 126 of file AP_AHRS.h.

Referenced by NavEKF2_core::detectFlight(), NavEKF3_core::detectFlight(), and CompassLearn::update().

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◆ get_trim()

const Vector3f& AP_AHRS::get_trim ( ) const

inline

Definition at line 385 of file AP_AHRS.h.

Referenced by NavEKF2_core::getEulerAngles(), and NavEKF3_core::getEulerAngles().

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◆ get_variances()

virtual bool AP_AHRS::get_variances	(	float &	velVar,
		float &	posVar,
		float &	hgtVar,
		Vector3f &	magVar,
		float &	tasVar,
		Vector2f &	offset
	)		const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 524 of file AP_AHRS.h.

Referenced by AP_Frsky_Telem::check_ekf_status().

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◆ get_vehicle_class()

AHRS_VehicleClass AP_AHRS::get_vehicle_class ( void ) const

inline

Definition at line 133 of file AP_AHRS.h.

Referenced by NavEKF2_core::assume_zero_sideslip(), and NavEKF3_core::assume_zero_sideslip().

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◆ get_velocity_NED()

virtual bool AP_AHRS::get_velocity_NED ( Vector3f & vec ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 309 of file AP_AHRS.h.

Referenced by AP_Frsky_Telem::calc_velandyaw(), AP_Avoidance::check_for_threats(), AR_AttitudeControl::get_forward_speed(), AP_AHRS_View::get_velocity_NED(), GCS_MAVLINK::send_global_position_int(), GCS_MAVLINK::send_local_position(), GCS_MAVLINK::send_vfr_hud(), AP_TECS::update_50hz(), and update_AOA_SSA().

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◆ get_yaw_rate_earth()

float AP_AHRS::get_yaw_rate_earth ( void ) const

inline

Definition at line 206 of file AP_AHRS.h.

Referenced by AR_AttitudeControl::get_lat_accel(), AP_SteerController::get_steering_out_rate(), and AR_AttitudeControl::get_steering_out_rate().

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◆ getAOA()

float AP_AHRS::getAOA ( void )

Definition at line 434 of file AP_AHRS.cpp.

Referenced by getCorrectedDeltaVelocityNED(), and DataFlash_Class::Log_Write_AOA_SSA().

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◆ getCorrectedDeltaVelocityNED()

virtual void AP_AHRS::getCorrectedDeltaVelocityNED	(	Vector3f &	ret,
		float &	dt
	)		const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 537 of file AP_AHRS.h.

Referenced by AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED().

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◆ getLastPosDownReset()

virtual uint32_t AP_AHRS::getLastPosDownReset ( float & posDelta ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 507 of file AP_AHRS.h.

Referenced by AP_AHRS_View::getLastPosDownReset().

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◆ getLastPosNorthEastReset()

virtual uint32_t AP_AHRS::getLastPosNorthEastReset ( Vector2f & pos ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 495 of file AP_AHRS.h.

Referenced by AP_AHRS_View::getLastPosNorthEastReset().

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◆ getLastVelNorthEastReset()

virtual uint32_t AP_AHRS::getLastVelNorthEastReset ( Vector2f & vel ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 501 of file AP_AHRS.h.

◆ getLastYawResetAngle()

virtual uint32_t AP_AHRS::getLastYawResetAngle ( float & yawAng ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 489 of file AP_AHRS.h.

◆ getSSA()

float AP_AHRS::getSSA ( void )

Definition at line 441 of file AP_AHRS.cpp.

Referenced by getCorrectedDeltaVelocityNED(), and DataFlash_Class::Log_Write_AOA_SSA().

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◆ groundspeed()

float AP_AHRS::groundspeed ( void )

inline

Definition at line 359 of file AP_AHRS.h.

Referenced by AP_Frsky_Telem::calc_velandyaw(), AP_SteerController::get_steering_out_lat_accel(), AP_SteerController::get_steering_out_rate(), AP_AHRS_View::groundspeed(), GCS_MAVLINK::send_vfr_hud(), and AP_Landing::type_slope_setup_landing_glide_slope().

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◆ groundspeed_vector()

Vector2f AP_AHRS::groundspeed_vector ( void )

virtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 235 of file AP_AHRS.cpp.

Referenced by airspeed_sensor_enabled(), groundspeed(), AP_AHRS_View::groundspeed_vector(), AP_AHRS_NavEKF::groundspeed_vector(), AP_L1_Control::update_heading_hold(), AP_L1_Control::update_loiter(), AP_L1_Control::update_waypoint(), AP_Landing_Deepstall::verify_breakout(), and AP_Landing_Deepstall::verify_land().

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◆ have_ekf_logging()

virtual bool AP_AHRS::have_ekf_logging ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 219 of file AP_AHRS.h.

◆ have_inertial_nav()

virtual bool AP_AHRS::have_inertial_nav ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 470 of file AP_AHRS.h.

Referenced by GCS_MAVLINK::_set_mode_common().

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◆ healthy()

virtual bool AP_AHRS::healthy ( void ) const

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by get_active_accel_instance(), and AP_Landing_Deepstall::update_steering().

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◆ home_is_locked()

bool AP_AHRS::home_is_locked ( ) const

inline

Definition at line 444 of file AP_AHRS.h.

◆ home_is_set()

bool AP_AHRS::home_is_set ( void ) const

inline

Definition at line 449 of file AP_AHRS.h.

Referenced by Log_Write_Home_And_Origin().

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◆ init()

virtual void AP_AHRS::init ( void )

inlinevirtual

Definition at line 88 of file AP_AHRS.h.

Referenced by setup().

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◆ initialised()

virtual bool AP_AHRS::initialised ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 483 of file AP_AHRS.h.

◆ lock_home()

void AP_AHRS::lock_home ( )

inline

Definition at line 441 of file AP_AHRS.h.

◆ Log_Write_Home_And_Origin()

void AP_AHRS::Log_Write_Home_And_Origin ( )

Definition at line 462 of file AP_AHRS.cpp.

Referenced by get_origin(), and GCS_MAVLINK::set_ekf_origin().

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◆ prearm_failure_reason()

virtual const char* AP_AHRS::prearm_failure_reason ( void ) const

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 214 of file AP_AHRS.h.

◆ reset()

virtual void AP_AHRS::reset ( bool recover_eulers = false )

pure virtual

Implemented in AP_AHRS_DCM, and AP_AHRS_NavEKF.

Referenced by AP_InertialSensor::simple_accel_cal().

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◆ reset_attitude()

virtual void AP_AHRS::reset_attitude	(	const float &	roll,
		const float &	pitch,
		const float &	yaw
	)

pure virtual

Implemented in AP_AHRS_DCM, and AP_AHRS_NavEKF.

◆ reset_gyro_drift()

virtual void AP_AHRS::reset_gyro_drift ( void )

pure virtual

Implemented in AP_AHRS_NavEKF, and AP_AHRS_DCM.

Referenced by GCS_MAVLINK::calibrate_gyros().

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◆ resetHeightDatum()

virtual bool AP_AHRS::resetHeightDatum ( void )

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 516 of file AP_AHRS.h.

◆ rotate_body_to_earth2D()

Vector2f AP_AHRS::rotate_body_to_earth2D ( const Vector2f & bf ) const

Definition at line 455 of file AP_AHRS.cpp.

Referenced by getCorrectedDeltaVelocityNED().

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◆ rotate_earth_to_body2D()

Vector2f AP_AHRS::rotate_earth_to_body2D ( const Vector2f & ef_vector ) const

Definition at line 448 of file AP_AHRS.cpp.

Referenced by getCorrectedDeltaVelocityNED().

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◆ set_airspeed()

void AP_AHRS::set_airspeed ( AP_Airspeed * airspeed )

inline

Definition at line 166 of file AP_AHRS.h.

◆ set_beacon()

void AP_AHRS::set_beacon ( AP_Beacon * beacon )

inline

Definition at line 170 of file AP_AHRS.h.

◆ set_compass()

void AP_AHRS::set_compass ( Compass * compass )

inline

Definition at line 145 of file AP_AHRS.h.

Referenced by setup().

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◆ set_correct_centrifugal()

void AP_AHRS::set_correct_centrifugal ( bool setting )

inline

Definition at line 375 of file AP_AHRS.h.

◆ set_fly_forward()

void AP_AHRS::set_fly_forward ( bool b )

inline

Definition at line 93 of file AP_AHRS.h.

◆ set_home()

virtual void AP_AHRS::set_home ( const Location & loc )

pure virtual

Implemented in AP_AHRS_DCM.

Referenced by home_is_set().

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◆ set_likely_flying()

void AP_AHRS::set_likely_flying ( bool b )

inline

Definition at line 106 of file AP_AHRS.h.

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◆ set_optflow()

void AP_AHRS::set_optflow ( const OpticalFlow * optflow )

inline

Definition at line 154 of file AP_AHRS.h.

◆ set_orientation()

void AP_AHRS::set_orientation ( )

Definition at line 217 of file AP_AHRS.cpp.

Referenced by get_optflow(), init(), and set_compass().

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◆ set_origin()

virtual bool AP_AHRS::set_origin ( const Location & loc )

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 461 of file AP_AHRS.h.

Referenced by GCS_MAVLINK::set_ekf_origin().

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◆ set_trim()

void AP_AHRS::set_trim ( Vector3f new_trim )

virtual

Definition at line 190 of file AP_AHRS.cpp.

Referenced by GCS_MAVLINK::_handle_command_preflight_calibration(), get_trim(), and AP_InertialSensor::simple_accel_cal().

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◆ set_vehicle_class()

void AP_AHRS::set_vehicle_class ( AHRS_VehicleClass vclass )

inline

Definition at line 137 of file AP_AHRS.h.

◆ set_wind_estimation()

void AP_AHRS::set_wind_estimation ( bool b )

inline

Definition at line 141 of file AP_AHRS.h.

◆ sin_pitch()

float AP_AHRS::sin_pitch ( ) const

inline

Definition at line 408 of file AP_AHRS.h.

◆ sin_roll()

float AP_AHRS::sin_roll ( ) const

inline

Definition at line 405 of file AP_AHRS.h.

◆ sin_yaw()

float AP_AHRS::sin_yaw ( ) const

inline

Definition at line 411 of file AP_AHRS.h.

Referenced by AC_Avoid::adjust_velocity_polygon(), and AR_AttitudeControl::get_forward_speed().

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◆ update()

virtual void AP_AHRS::update ( bool skip_ins_update = false )

pure virtual

Implemented in AP_AHRS_DCM, and AP_AHRS_NavEKF.

Referenced by get_yaw_rate_earth().

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◆ update_AOA_SSA()

void AP_AHRS::update_AOA_SSA ( void )

virtual

Definition at line 387 of file AP_AHRS.cpp.

Referenced by getAOA(), getCorrectedDeltaVelocityNED(), getSSA(), and AP_AHRS_DCM::update().

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◆ update_cd_values()

void AP_AHRS::update_cd_values ( void )

protected

Definition at line 352 of file AP_AHRS.cpp.

Referenced by AP_AHRS_DCM::euler_angles(), AP_AHRS_NavEKF::update_DCM(), AP_AHRS_NavEKF::update_EKF2(), AP_AHRS_NavEKF::update_EKF3(), and AP_AHRS_NavEKF::update_SITL().

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◆ update_trig()

void AP_AHRS::update_trig ( void )

protected

Definition at line 336 of file AP_AHRS.cpp.

Referenced by AP_AHRS_DCM::update(), AP_AHRS_NavEKF::update_EKF2(), AP_AHRS_NavEKF::update_EKF3(), and AP_AHRS_NavEKF::update_SITL().

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◆ uptime_ms()

virtual uint32_t AP_AHRS::uptime_ms ( void ) const

pure virtual

Implemented in AP_AHRS_DCM.

Referenced by get_variances().

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◆ use_compass()

virtual bool AP_AHRS::use_compass ( void )

inlinevirtual

Reimplemented in AP_AHRS_DCM, and AP_AHRS_NavEKF.

Definition at line 364 of file AP_AHRS.h.

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◆ wind_estimate()

virtual Vector3f AP_AHRS::wind_estimate ( void ) const

pure virtual

Implemented in AP_AHRS_DCM, and AP_AHRS_NavEKF.

Referenced by AP_Landing_Deepstall::build_approach_path(), get_hagl(), groundspeed_vector(), AP_Landing::head_wind(), update_AOA_SSA(), SoaringController::update_thermalling(), AP_Landing_Deepstall::verify_land(), AP_Landing::wind_alignment(), and AP_AHRS_View::wind_estimate().

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◆ writeExtNavData()

virtual void AP_AHRS::writeExtNavData	(	const Vector3f &	sensOffset,
		const Vector3f &	pos,
		const Quaternion &	quat,
		float	posErr,
		float	angErr,
		uint32_t	timeStamp_ms,
		uint32_t	resetTime_ms
	)

inlinevirtual

Reimplemented in AP_AHRS_NavEKF.

Definition at line 569 of file AP_AHRS.h.

Referenced by GCS_MAVLINK::handle_att_pos_mocap(), and GCS_MAVLINK::handle_common_vision_position_estimate_data().

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◆ yaw_initialised()

bool AP_AHRS::yaw_initialised ( void ) const

inline

Definition at line 369 of file AP_AHRS.h.

Friends And Related Function Documentation

◆ AP_AHRS_View

friend class AP_AHRS_View

friend

Definition at line 53 of file AP_AHRS.h.

Referenced by create_view().

Member Data Documentation

◆ _accel_ef

Vector3f AP_AHRS::_accel_ef[INS_MAX_INSTANCES]

protected

Definition at line 645 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::_yaw_gain(), AP_AHRS_DCM::drift_correction(), and get_accel_ef().

◆ _accel_ef_blended

Vector3f AP_AHRS::_accel_ef_blended

protected

Definition at line 646 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::drift_correction(), and get_accel_ef_blended().

◆ _active_accel_instance

uint8_t AP_AHRS::_active_accel_instance

protected

Definition at line 664 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::_yaw_gain(), AP_AHRS_DCM::drift_correction(), and get_active_accel_instance().

◆ _airspeed

AP_Airspeed* AP_AHRS::_airspeed

protected

Definition at line 624 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::airspeed_estimate(), airspeed_estimate(), airspeed_sensor_enabled(), AP_AHRS_DCM::drift_correction(), AP_AHRS_DCM::estimate_wind(), get_airspeed(), get_EAS2TAS(), and set_airspeed().

◆ _AOA

float AP_AHRS::_AOA

protected

Definition at line 670 of file AP_AHRS.h.

Referenced by getAOA(), and update_AOA_SSA().

◆ _beacon

AP_Beacon* AP_AHRS::_beacon

protected

Definition at line 627 of file AP_AHRS.h.

Referenced by get_beacon(), and set_beacon().

◆ _board_orientation

AP_Int8 AP_AHRS::_board_orientation

protected

Definition at line 583 of file AP_AHRS.h.

Referenced by set_orientation().

◆ _compass

Compass* AP_AHRS::_compass

protected

Definition at line 618 of file AP_AHRS.h.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), AP_AHRS_DCM::drift_correction_yaw(), get_compass(), set_compass(), set_orientation(), AP_AHRS_DCM::use_compass(), use_compass(), and AP_AHRS_DCM::yaw_error_compass().

◆ _compass_last_update

uint32_t AP_AHRS::_compass_last_update

protected

Definition at line 630 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::drift_correction_yaw().

◆ _cos_pitch

float AP_AHRS::_cos_pitch

protected

Definition at line 660 of file AP_AHRS.h.

Referenced by cos_pitch(), and update_trig().

◆ _cos_roll

float AP_AHRS::_cos_roll

protected

Definition at line 660 of file AP_AHRS.h.

Referenced by cos_roll(), and update_trig().

◆ _cos_yaw

float AP_AHRS::_cos_yaw

protected

Definition at line 660 of file AP_AHRS.h.

Referenced by cos_yaw(), rotate_body_to_earth2D(), rotate_earth_to_body2D(), and update_trig().

◆ _custom_pitch

AP_Float AP_AHRS::_custom_pitch

protected

Definition at line 588 of file AP_AHRS.h.

Referenced by set_orientation().

◆ _custom_roll

AP_Float AP_AHRS::_custom_roll

protected

Definition at line 587 of file AP_AHRS.h.

Referenced by set_orientation().

◆ _custom_rotation

Matrix3f AP_AHRS::_custom_rotation

protected

Definition at line 591 of file AP_AHRS.h.

Referenced by set_orientation().

◆ _custom_yaw

AP_Float AP_AHRS::_custom_yaw

protected

Definition at line 589 of file AP_AHRS.h.

Referenced by set_orientation().

◆ _ekf_type

AP_Int8 AP_AHRS::_ekf_type

protected

Definition at line 586 of file AP_AHRS.h.

Referenced by AP_AHRS_NavEKF::ekf_type(), get_ekf_type(), AP_AHRS_NavEKF::set_ekf_use(), and AP_AHRS_NavEKF::update().

◆ _flags

struct AP_AHRS::ahrs_flags AP_AHRS::_flags

protected

Referenced by AP_AHRS_NavEKF::active_EKF_type(), AP_AHRS_DCM::airspeed_estimate(), AP_AHRS(), AP_AHRS_DCM::drift_correction(), AP_AHRS_DCM::drift_correction_yaw(), AP_AHRS_DCM::estimate_wind(), get_correct_centrifugal(), get_fly_forward(), get_likely_flying(), AP_AHRS_DCM::get_position(), get_time_flying_ms(), set_correct_centrifugal(), set_fly_forward(), set_likely_flying(), set_wind_estimation(), AP_AHRS_DCM::use_compass(), and yaw_initialised().

◆ _gps_delay

AP_Int8 AP_AHRS::_gps_delay

protected

Definition at line 585 of file AP_AHRS.h.

◆ _gps_minsats

AP_Int8 AP_AHRS::_gps_minsats

protected

Definition at line 584 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::drift_correction().

◆ _gps_use

AP_Int8 AP_AHRS::_gps_use

protected

Definition at line 581 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::have_gps().

◆ _gyro_drift_limit

float AP_AHRS::_gyro_drift_limit

protected

Definition at line 642 of file AP_AHRS.h.

Referenced by AP_AHRS(), and AP_AHRS_DCM::drift_correction().

◆ _home

struct Location AP_AHRS::_home

protected

Definition at line 655 of file AP_AHRS.h.

Referenced by get_home(), AP_AHRS_DCM::get_position(), AP_AHRS_NavEKF::get_relative_position_D_home(), AP_AHRS_NavEKF::get_relative_position_NE_home(), AP_AHRS_NavEKF::get_relative_position_NED_home(), Log_Write_Home_And_Origin(), and AP_AHRS_DCM::set_home().

◆ _home_is_set

bool AP_AHRS::_home_is_set

protected

Definition at line 656 of file AP_AHRS.h.

Referenced by home_is_set(), and AP_AHRS_DCM::set_home().

◆ _home_locked

bool AP_AHRS::_home_locked

protected

Definition at line 657 of file AP_AHRS.h.

Referenced by home_is_locked(), and lock_home().

◆ _hp

Vector2f AP_AHRS::_hp

protected

Definition at line 651 of file AP_AHRS.h.

Referenced by groundspeed_vector().

◆ _kp

AP_Float AP_AHRS::_kp

protected

Definition at line 577 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::drift_correction().

◆ _kp_yaw

AP_Float AP_AHRS::_kp_yaw

protected

Definition at line 576 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::drift_correction_yaw().

◆ _last_AOA_update_ms

uint32_t AP_AHRS::_last_AOA_update_ms

protected

Definition at line 671 of file AP_AHRS.h.

Referenced by update_AOA_SSA().

◆ _last_flying_ms

uint32_t AP_AHRS::_last_flying_ms

protected

Definition at line 603 of file AP_AHRS.h.

Referenced by get_time_flying_ms(), and set_likely_flying().

◆ _last_trim

Vector3f AP_AHRS::_last_trim

protected

Definition at line 636 of file AP_AHRS.h.

Referenced by AP_AHRS(), and update_trig().

◆ _lastGndVelADS

Vector2f AP_AHRS::_lastGndVelADS

protected

Definition at line 652 of file AP_AHRS.h.

Referenced by groundspeed_vector().

◆ _lp

Vector2f AP_AHRS::_lp

protected

Definition at line 650 of file AP_AHRS.h.

Referenced by groundspeed_vector().

◆ _optflow

const OpticalFlow* AP_AHRS::_optflow

protected

Definition at line 621 of file AP_AHRS.h.

Referenced by get_optflow(), and set_optflow().

◆ _rotation_autopilot_body_to_vehicle_body

Matrix3f AP_AHRS::_rotation_autopilot_body_to_vehicle_body

protected

Definition at line 637 of file AP_AHRS.h.

Referenced by AP_AHRS(), get_rotation_autopilot_body_to_vehicle_body(), and update_trig().

◆ _rotation_vehicle_body_to_autopilot_body

Matrix3f AP_AHRS::_rotation_vehicle_body_to_autopilot_body

protected

Definition at line 638 of file AP_AHRS.h.

Referenced by AP_AHRS(), get_rotation_vehicle_body_to_autopilot_body(), and update_trig().

◆ _sin_pitch

float AP_AHRS::_sin_pitch

protected

Definition at line 661 of file AP_AHRS.h.

Referenced by sin_pitch(), and update_trig().

◆ _sin_roll

float AP_AHRS::_sin_roll

protected

Definition at line 661 of file AP_AHRS.h.

Referenced by sin_roll(), and update_trig().

◆ _sin_yaw

float AP_AHRS::_sin_yaw

protected

Definition at line 661 of file AP_AHRS.h.

Referenced by rotate_body_to_earth2D(), rotate_earth_to_body2D(), sin_yaw(), and update_trig().

◆ _singleton

AP_AHRS * AP_AHRS::_singleton

staticprivate

Definition at line 674 of file AP_AHRS.h.

Referenced by AP_AHRS(), get_singleton(), and Log_Write_Home_And_Origin().

◆ _SSA

float AP_AHRS::_SSA

protected

Definition at line 670 of file AP_AHRS.h.

Referenced by getSSA(), and update_AOA_SSA().

◆ _trim

AP_Vector3f AP_AHRS::_trim

protected

Definition at line 633 of file AP_AHRS.h.

Referenced by add_trim(), AP_AHRS(), get_trim(), set_trim(), and update_trig().

◆ _vehicle_class

AHRS_VehicleClass AP_AHRS::_vehicle_class

protected

Definition at line 572 of file AP_AHRS.h.

Referenced by AP_AHRS_NavEKF::active_EKF_type(), get_vehicle_class(), AP_AHRS_NavEKF::healthy(), and set_vehicle_class().

◆ _view

AP_AHRS_View* AP_AHRS::_view

protected

Definition at line 667 of file AP_AHRS.h.

Referenced by create_view(), and AP_AHRS_NavEKF::update().

◆ _wind_max

AP_Int8 AP_AHRS::_wind_max

protected

Definition at line 582 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::airspeed_estimate(), and airspeed_estimate().

◆ beta

AP_Float AP_AHRS::beta

protected

Definition at line 580 of file AP_AHRS.h.

Referenced by groundspeed_vector().

◆ gps_gain

AP_Float AP_AHRS::gps_gain

protected

Definition at line 578 of file AP_AHRS.h.

Referenced by AP_AHRS_DCM::drift_correction().

◆ pitch

float AP_AHRS::pitch

Definition at line 225 of file AP_AHRS.h.

Referenced by AP_PitchController::_get_coordination_rate_offset(), AP_TECS::_initialise_states(), AP_AHRS_DCM::drift_correction_yaw(), AP_AHRS_DCM::euler_angles(), AP_AHRS_DCM::get_gyro_drift(), loop(), AP_L1_Control::nav_roll_cd(), AP_AHRS_NavEKF::reset(), AP_AHRS_DCM::reset(), AP_AHRS_NavEKF::reset_attitude(), GCS_MAVLINK::send_attitude(), CompassLearn::update(), update_cd_values(), AP_AHRS_NavEKF::update_DCM(), AP_AHRS_NavEKF::update_EKF2(), AP_AHRS_NavEKF::update_EKF3(), and AP_AHRS_NavEKF::update_SITL().

◆ pitch_sensor

int32_t AP_AHRS::pitch_sensor

Definition at line 230 of file AP_AHRS.h.

Referenced by AP_PitchController::_get_coordination_rate_offset(), AP_PitchController::_get_rate_out(), AP_Frsky_Telem::calc_attiandrng(), AP_AHRS_DCM::drift_correction(), DataFlash_Class::Log_Write_Attitude(), DataFlash_Class::Log_Write_CameraInfo(), AP_Camera::send_feedback(), and update_cd_values().

◆ roll

◆ roll_sensor

int32_t AP_AHRS::roll_sensor

Definition at line 229 of file AP_AHRS.h.

Referenced by AP_PitchController::_get_rate_out(), AP_Frsky_Telem::calc_attiandrng(), DataFlash_Class::Log_Write_Attitude(), DataFlash_Class::Log_Write_CameraInfo(), AP_Camera::send_feedback(), AP_Camera::update(), and update_cd_values().

◆ var_info

const AP_Param::GroupInfo AP_AHRS::var_info

static

Definition at line 416 of file AP_AHRS.h.

Referenced by AP_AHRS().

◆ yaw

◆ yaw_sensor

int32_t AP_AHRS::yaw_sensor

Definition at line 231 of file AP_AHRS.h.

Referenced by AP_Landing_Deepstall::build_approach_path(), AP_Frsky_Telem::calc_velandyaw(), AR_AttitudeControl::get_forward_speed(), AP_L1_Control::get_yaw_sensor(), AP_Landing::head_wind(), DataFlash_Class::Log_Write_Attitude(), DataFlash_Class::Log_Write_CameraInfo(), AP_Frsky_Telem::send_D(), AP_Camera::send_feedback(), GCS_MAVLINK::send_global_position_int(), AP_Frsky_Telem::send_SPort(), GCS_MAVLINK::send_vfr_hud(), update_cd_values(), AP_L1_Control::update_heading_hold(), AP_L1_Control::update_level_flight(), and AP_AHRS_DCM::use_compass().

The documentation for this class was generated from the following files:

libraries/AP_AHRS/AP_AHRS.h
libraries/AP_AHRS/AP_AHRS.cpp

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ AP_AHRS()

◆ ~AP_AHRS()

Member Function Documentation

◆ add_trim()

◆ airspeed_estimate()

◆ airspeed_estimate_true()

◆ airspeed_sensor_enabled()

◆ calc_trig()

◆ cos_pitch()

◆ cos_roll()

◆ cos_yaw()

◆ create_view()

◆ get_accel_ef() [1/2]

◆ get_accel_ef() [2/2]

◆ get_accel_ef_blended()

◆ get_active_accel_instance()

◆ get_airspeed()

◆ get_beacon()

◆ get_compass()

◆ get_correct_centrifugal()

◆ get_EAS2TAS()

◆ get_ekf_type()

◆ get_error_rp()

◆ get_error_yaw()

◆ get_expected_mag_field_NED()

◆ get_fly_forward()

◆ get_gyro()

◆ get_gyro_drift()

◆ get_gyro_latest()

◆ get_hagl()

◆ get_hgt_ctrl_limit()

◆ get_home()

◆ get_likely_flying()

◆ get_mag_field_correction()

◆ get_optflow()

◆ get_origin()

◆ get_position()

◆ get_primary_accel_index()

◆ get_primary_gyro_index()

◆ get_relative_position_D_home()

◆ get_relative_position_D_origin()

◆ get_relative_position_NE_home()

◆ get_relative_position_NE_origin()

◆ get_relative_position_NED_home()

◆ get_relative_position_NED_origin()

◆ get_rotation_autopilot_body_to_vehicle_body()

◆ get_rotation_body_to_ned()

◆ get_rotation_vehicle_body_to_autopilot_body()

◆ get_secondary_attitude()

◆ get_secondary_position()

◆ get_secondary_quaternion()

◆ get_singleton()

◆ get_time_flying_ms()

◆ get_trim()

◆ get_variances()

◆ get_vehicle_class()

◆ get_velocity_NED()

◆ get_yaw_rate_earth()

◆ getAOA()

◆ getCorrectedDeltaVelocityNED()

◆ getLastPosDownReset()

◆ getLastPosNorthEastReset()

◆ getLastVelNorthEastReset()

◆ getLastYawResetAngle()

◆ getSSA()

◆ groundspeed()

◆ groundspeed_vector()

◆ have_ekf_logging()

◆ have_inertial_nav()