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Create shim AP_AHRS_NavEKF3-isa-AP_AHRS_Backend #24613

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wants to merge 35 commits into from
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Create shim AP_AHRS_NavEKF3-isa-AP_AHRS_Backend #24613

wants to merge 35 commits into from

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peterbarker
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Since we lost the appetite to make AP_NavEK3 a backend directly, add a shim layer which embeds the AP_NavEKF3 object and can be the right shape to be an AP_AHRS_Backend.

Flash cost is rather more than doing things directly:

Board               AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
Durandal                       2088   *           1328    1304              2560   2544   1608
HerePro             104                                                                   
Hitec-Airspeed      *                                                                     
KakuteH7-bdshot                1712   *           976     912               1696   2248   1320
MatekF405                      1888   *           1176    1176              2192   2568   1568
Pixhawk1-1M-bdshot             1848               1016    1024              1776   2528   1488
f103-QiotekPeriph   *                                                                     
f303-Universal      *                                                                     
iomcu                                                           *                         
revo-mini                      1776   *           1376    1400              1816   2384   1248
skyviper-v2450                                    1304

@peterbarker peterbarker force-pushed the pr/AP_AHRS_NavEKF3 branch 4 times, most recently from 4a001b9 to a5a270d Compare August 13, 2023 08:38
@peterbarker
AP_AHRS: add attitude_is_valid to results
60cd9f9
@peterbarker
AP_AHRS: Backend: remove unused methods
f3bd000
@peterbarker
AP_AHRS: privatise data returned by getters
5ee70ce
@peterbarker
AP_AHRS: use results structure to hold more estimate output
bfdc400
@peterbarker
AP_AHRS: store quat in results object
45f7ce5
@peterbarker
AP_AHRS: fill externalAHRS results even if quat invalid
c7a40c5
@peterbarker
AP_AHRS: zero estimates before filling
32e3066
@peterbarker
AP_AHRS: return groundspeed vector in results object
f868f8f
@peterbarker
AP_AHRS: remove unused have_inertial_nav method
00ec39d
@peterbarker
AP_AHRS: put initialised and healthy into results
c2a8262
@peterbarker
AP_AHRS: include primary gyro index in results object
842103b
@peterbarker
AP_AHRS: put hagl in results structure
6a541dd
@peterbarker
AP_AHRS: move wind estimates into estimates structure
b7804af
@peterbarker
AP_AHRS: move origin-relative position functions into estimates
d3c55d8
@peterbarker
AP_AHRS: move control limits into results structure
b360f69
@peterbarker
AP_AHRS: remove not-needed virtual methods from backends
948f64f 
we will call non-virtual methods or add them to the data structure rather than having callbacks
@peterbarker
AP_AHRS: remove unused airspeed_vector_true method from backend iface
bc0d441
@peterbarker
AP_AHRS: create AP_AHRS_NavEKF3 shim
6d82eb7
@peterbarker
ArduCopter: adjust for AP_AHRS_NavEKF3 shim
1459e08
@peterbarker
ArduPlane: adjust for AP_AHRS_NavEKF3 shim
23083c4
@peterbarker
ArduSub: adjust for AP_AHRS_NavEKF3 shim
ab2e0d3
@peterbarker
Blimp: adjust for AP_AHRS_NavEKF3 shim
16109a9
@peterbarker
Rover: adjust for AP_AHRS_NavEKF3 shim
ac788f7
@peterbarker peterbarker deleted the pr/AP_AHRS_NavEKF3 branch December 31, 2024 01:23
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2 participants
@peterbarker @CraigElder