Peter Barker
4673c008c1
Reparent airspeed_EAS and get_unconstrained_airspeed_EAS from
AP_AHRS_DCM to AP_AHRS_Backend so backends other than DCM can supply a
synthetic airspeed without DCM compiled in. As with the wind
estimation, the bodies are left in place in AP_AHRS_DCM.cpp - only the
class qualifier and the surrounding guard (AP_AHRS_DCM_ENABLED ->
AP_AHRS_ENABLED) change. _last_airspeed_TAS moves to the base class;
DCM still updates it from drift_correction.
The synthetic estimate is gated on the backend having a ground
velocity from a source independent of airspeed. Callers pass the
backend's published Estimates::have_velocity_source down through
airspeed_TAS/airspeed_EAS; DCM-internal callers pass have_gps()
directly, which is the same fact and the same value the old code
read. The AP::gps() test the base class would otherwise have needed
would be wrong for e.g. ExternalAHRS, which sources velocity from
its own device rather than the autopilot's GPS.
As with the wind-estimation move, the airspeed_sensor_enabled helpers
are now DCM's own (9ed23d57e1), so the moved code tests the airspeed
sensor directly - the same nullptr/use/healthy test, written the way
the frontend's _should_use_airspeed_sensor now does.
ArduPilot Project
ArduPilot is the most advanced, full-featured, and reliable open source autopilot software available. It has been under development since 2010 by a diverse team of professional engineers, computer scientists, and community contributors. Our autopilot software is capable of controlling almost any vehicle system imaginable, from conventional airplanes, quad planes, multi-rotors, and helicopters to rovers, boats, balance bots, and even submarines. It is continually being expanded to provide support for new emerging vehicle types.
The ArduPilot project is made up of
User Support & Discussion Forums
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Support Forum: https://discuss.ardupilot.org/
-
Community Site: https://ardupilot.org
Developer Information
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Github repository: https://github.com/ArduPilot/ardupilot
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Main developer wiki: https://ardupilot.org/dev/
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Developer discussion: https://discuss.ardupilot.org
-
Developer chat: https://discord.com/channels/ardupilot
Top Contributors
- Flight code contributors
- Wiki contributors
- Most active support forum users
- Partners who contribute financially
How To Get Involved
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The ArduPilot project is open source and we encourage participation and code contributions: guidelines for contributors to the ardupilot codebase
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We have an active group of Beta Testers to help us improve our code: release procedures
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Desired Enhancements and Bugs can be posted to the issues list.
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Help other users with log analysis in the support forums
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Improve the wiki and chat with other wiki editors on Discord #documentation
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Contact the developers on one of the communication channels
License
The ArduPilot project is licensed under the GNU General Public License, version 3.
Maintainers
ArduPilot is comprised of several parts, vehicles and boards. The list below contains the people that regularly contribute to the project and are responsible for reviewing patches on their specific area.
- Andrew Tridgell:
- Vehicle: Plane, AntennaTracker
- Board: Pixhawk, Pixhawk2, PixRacer
- Francisco Ferreira:
- Bug Master
- Grant Morphett:
- Vehicle: Rover
- Willian Galvani:
- Vehicle: Sub
- Board: Navigator
- Michael du Breuil:
- Subsystem: Batteries
- Subsystem: GPS
- Subsystem: Scripting
- Peter Barker:
- Subsystem: DataFlash, Tools
- Randy Mackay:
- Vehicle: Copter, Rover, AntennaTracker
- Siddharth Purohit:
- Subsystem: CAN, Compass
- Board: Cube*
- Tom Pittenger:
- Vehicle: Plane
- Bill Geyer:
- Vehicle: TradHeli
- Emile Castelnuovo:
- Board: VRBrain
- Georgii Staroselskii:
- Board: NavIO
- Gustavo José de Sousa:
- Subsystem: Build system
- Julien Beraud:
- Board: Bebop & Bebop 2
- Leonard Hall:
- Subsystem: Copter attitude control and navigation
- Matt Lawrence:
- Vehicle: 3DR Solo & Solo based vehicles
- Matthias Badaire:
- Subsystem: FRSky
- Mirko Denecke:
- Board: BBBmini, BeagleBone Blue, PocketPilot
- Paul Riseborough:
- Subsystem: AP_NavEKF2
- Subsystem: AP_NavEKF3
- Víctor Mayoral Vilches:
- Board: PXF, Erle-Brain 2, PXFmini
- Amilcar Lucas:
- Subsystem: Marvelmind
- Samuel Tabor:
- Subsystem: Soaring/Gliding
- Henry Wurzburg:
- Subsystem: OSD
- Site: Wiki
- Peter Hall:
- Vehicle: Tailsitters
- Vehicle: Sailboat
- Subsystem: Scripting
- Andy Piper:
- Subsystem: Crossfire
- Subsystem: ESC
- Subsystem: OSD
- Subsystem: SmartAudio
- Alessandro Apostoli:
- Subsystem: Telemetry
- Subsystem: OSD
- Rishabh Singh:
- Subsystem: Avoidance/Proximity
- David Bussenschutt:
- Subsystem: ESP32,AP_HAL_ESP32
- Charles Villard:
- Subsystem: ESP32,AP_HAL_ESP32