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55 Commits
Author SHA1 Message Date
Peter Barker 8ad9ae2314 AP_DAL: stop using airspeed_sensor_enabled from AP_DAL 
this is an input to the EKF, but also populated based on the AHRS current state.

Make the data come from the sensor, not the *output* of the AHRS backends!
 2026-09-07 11:37:32 +10:00
Peter Barker 5a5312a2ea AP_DAL: break potential loop between EKF input and AHRS backend output 
in the event we finally make get_EAS2TAS non-static (e.g. an ExternalAHRS producing one) we don't want that number accidentally fed into the EKF.
 2026-08-19 18:50:42 +10:00
Leonard Hall 195c024c56 AP_DAL: only compile RGPK when the yaw antenna offset is exported 
RGPK carries the moving baseline yaw antenna offset, which Replay needs only to
reproduce the EKF3 attitude correction of that yaw.  Add
AP_DAL_RGPK_LOGGING_ENABLED and gate the message ID, the structure, the
per-instance state and the write on it.

This also removes the runtime flag start_frame() took to decide whether to fetch
the offset.  The flag kept AP_GPS::get_mb_yaw_offset() referenced, so the
accessor and the RGPK write were linked into every build whether or not any
consumer applied the correction.
 2026-08-19 16:25:27 +10:00
Leonard Hall a6776c5c1d AP_DAL: only log RGPK when the moving baseline yaw correction is applied 2026-08-19 16:25:27 +10:00
Thomas Watson 57b7cf584d AP_DAL: fill missing fields in replay body odometry message 
Inexplicably, the offset and delay fields were never filled in the RBOH
message, despite the fact they have always been available and read from
it. Filling these in is necessary for replay to work as the default
delay is not zero, so reading zero in replay causes a difference in the
replayed data. Also fix the comments which falsely say these fields are
not used.
 2026-03-30 09:50:36 -05:00
Peter Barker caf2d04576 AP_DAL: correct use of AHRS_EKF_TYPE value rather than canonicalised type 2025-12-01 09:24:27 +11:00
Peter Barker 426b5d8478 AP_DAL: rename configured_ekf_type to ekf_type_parameter_value 
configured_ekf_type is correct in that that's what the user has set the value to.  But it's not a normalised value, and it is reasonable to expect that configured_ekf_type will return a value which reflects teh configuration that the AHRS will actually be using.
 2025-11-28 09:08:23 +11:00
Peter Barker b2811d5c35 AP_DAL: rename get_ekf_type to configured_ekf_type 2025-11-24 22:43:01 -06:00
Randy Mackay c0a8b635a6 AP_DAL: support writeTerrainData 2025-08-13 10:41:40 +09:00
Peter Barker aafc8ca5d6 AP_DAL: check filehandle for nullptr before returning it 
the fopen might fail
 2025-04-15 10:17:51 +10:00
Peter Barker a794688f3b AP_NavEKF3: move definition of MAX_EKF_CORES 
if you're not including the AP_NavEKF3 header then you don't get this definition and then you won't be able to compile the DAL.
 2024-12-31 10:55:51 +11:00
Peter Barker e3e350427e AP_DAL: use enum class for DAL MemoryType 2024-09-04 09:51:08 +10:00
Peter Barker e9baf3d15a AP_DAL: add and use pr/EK3_FEATURE_OPTFLOW_FUSION 2024-09-02 11:53:12 +10:00
Peter Barker abc0179a53 AP_DAL: make AP_RANGEFINDER_ENABLED remove more code 2024-07-02 09:17:26 +10:00
Andrew Tridgell 50253834ef AP_DAL: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Andrew Tridgell db9cc9ac84 AP_DAL: use ahrs for EAS2TAS 
this uses the stored value calculated once per loop
 2024-05-07 21:19:06 +10:00
Peter Barker 8828659b33 AP_DAL: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker 105acc605f AP_DAL: correct compilation when AP_Vehicle not available 2023-12-13 18:34:40 +11:00
Mykhailo Kuznietsov 2806fc98b3 AP_DAL: Fix some typos 
Fixed some typos found in the code.
 2023-10-12 18:30:42 +11:00
Paul Riseborough 48f0edaffc AP_DAL: Add handlers for external lat lng position set 2023-06-06 15:19:12 +10:00
bugobliterator 14ae431056 AP_DAL: use MAX_EKF_CORES instead of INS_MAX_INSTANCES in ekf_low_time_remaining 2023-03-21 10:04:16 +11:00
Iampete1 def81b9a1a AP_DAL: populate ekf_type 2023-02-28 11:27:43 +11:00
Stephen Dade b15cb46d25 AP_DAL: Add support for fixed height optical flow 2022-12-01 08:03:47 +09:00
Peter Barker 67986e8402 AP_DAL: add and use AP_BEACON_ENABLED 2022-11-16 08:16:31 +11:00
Andrew Tridgell aab0c31385 AP_DAL: prevent logical loop between AHRS and EKF 
this prevents the EKF using its own rejecting_airspeed flag
 2022-02-07 14:13:49 +11:00
Josh Henderson af348e6ba1 AP_DAL: add define AP_AIRSPEED_ENABLED 2022-01-19 18:21:32 +11:00
Peter Barker ca8436ba5d AP_DAL: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Peter Barker d6ebc5578b AP_DAL: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
bugobliterator 756972a80b AP_DAL: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
Peter Barker fc6d8222e7 AP_DAL: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Peter Barker b5b4ec94c9 AP_DAL: stop using AHRS as conduit for Compass pointer 2021-07-30 12:19:42 +10:00
Peter Barker f4f713a04f AP_DAL: add takeoff and touchdown expected state 2021-06-02 11:13:16 +09:00
Paul Riseborough 296fb567ca AP_DAL: Enable default airspeed variance to be specified externally 2021-03-05 12:10:01 +11:00
Randy Mackay 7d319f8059 AP_DAL: add wheelencoder_enabled 2020-12-01 14:01:17 +09:00
Andrew Tridgell 172854c894 AP_DAL: fixed build on navio 
avoid shadowed variables
 2020-12-01 10:53:08 +11:00
Andrew Tridgell 893e9ea7fd AP_DAL: don't allocate sensor backends unless needed 
this saves memory on boards without those sensors
 2020-12-01 10:53:08 +11:00
Andrew Tridgell 9e5e49cd13 AP_DAL: added methods to support EKF sources selection 2020-11-20 16:43:44 +09:00
Andrew Tridgell 636fe783f4 AP_DAL: use common events and structures for EKF2 and EKF3 
this facilitates --force-ekf2 and --force-ekf3
 2020-11-17 13:45:07 +11:00
Andrew Tridgell f4bf2ec3fe AP_DAL: allow replay on ChibiOS 2020-11-10 16:15:45 +11:00
Andrew Tridgell 0506af113e AP_DAL: tidyup 2020-11-10 16:15:45 +11:00
Andrew Tridgell 0e7611cebe AP_DAL: fixed handling of AHRS trim 2020-11-10 16:15:45 +11:00
Andrew Tridgell f145afabf3 AP_DAL: pack RFRN more efficiently 2020-11-10 16:15:45 +11:00
Andrew Tridgell 905ffed7fd AP_DAL: cleanups from review 2020-11-10 16:15:45 +11:00
Andrew Tridgell dd96d7c205 AP_DAL: fixed standalone linking 2020-11-10 16:15:45 +11:00
Andrew Tridgell 4ef7d5b468 AP_DAL: make more APIs const 2020-11-10 16:15:45 +11:00
Andrew Tridgell e273f73cb4 AP_DAL: fixed shadowed variable 2020-11-10 16:15:45 +11:00
Andrew Tridgell 9635231088 AP_DAL: added body frame odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell c7cc26d9bc AP_DAL: rename xxprintf() to rprintf() 2020-11-10 16:15:45 +11:00
Andrew Tridgell b8a3413f5e AP_DAL: support wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell c068da154a AP_DAL: support external pos and velocity data 2020-11-10 16:15:45 +11:00