/*

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program. If not, see <[Link]
*/

/*
* NavEKF based AHRS (Attitude Heading Reference System) interface for
* ArduPilot
*
*/

#include "AP_AHRS_config.h"

#if AP_AHRS_ENABLED

#include <AP_HAL/AP_HAL.h>
#include "AP_AHRS.h"
#include "AP_AHRS_View.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_Module/AP_Module.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_CustomRotations/AP_CustomRotations.h>

#include <AP_Mission/AP_Mission_config.h>
#if AP_MISSION_ENABLED
#include <AP_Mission/AP_Mission.h>
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

#include <SITL/SITL.h>
#endif
#include <AP_NavEKF3/AP_NavEKF3_feature.h>

#define ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD radians(10)

#define ATTITUDE_CHECK_THRESH_YAW_RAD radians(20)

#ifndef HAL_AHRS_EKF_TYPE_DEFAULT
#define HAL_AHRS_EKF_TYPE_DEFAULT 3
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// index 0 and 1 are for old parameters that are no longer not used

// @Param: GPS_GAIN
// @DisplayName: AHRS GPS gain
// @Description: This controls how much to use the GPS to correct the attitude.
This should never be set to zero for a plane as it would result in the plane losing
control in turns. For a plane please use the default value of 1.0.
// @Range: 0.0 1.0
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS, gps_gain, 1.0f),

// @Param: GPS_USE
// @DisplayName: AHRS use GPS for DCM navigation and position-down
// @Description: This controls whether to use dead-reckoning or GPS based
navigation. If set to 0 then the GPS won't be used for navigation, and only dead
reckoning will be used. A value of zero should never be used for normal flight.
Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its
own parameters. A value of 2 means to use GPS for height as well as position - both
in DCM estimation and when determining altitude-above-home.
// @Values: 0:Disabled,1:Use GPS for DCM position,2:Use GPS for DCM position
and height
// @User: Advanced
AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, float(GPSUse::Enable)),

// @Param: YAW_P
// @DisplayName: Yaw P
// @Description: This controls the weight the compass or GPS has on the
heading. A higher value means the heading will track the yaw source (GPS or
compass) more rapidly.
// @Range: 0.1 0.4
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.2f),

// @Param: RP_P
// @DisplayName: AHRS RP_P
// @Description: This controls how fast the accelerometers correct the attitude
// @Range: 0.1 0.4
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.2f),

// @Param: WIND_MAX
// @DisplayName: Maximum wind
// @Description: This sets the maximum allowable difference between ground
speed and airspeed. A value of zero means to use the airspeed as is. This allows
the plane to cope with a failing airspeed sensor by clipping it to groundspeed
plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed
sensors.
// @Range: 0 127
// @Units: m/s
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("WIND_MAX", 6, AP_AHRS, _wind_max, 0.0f),

// NOTE: 7 was BARO_USE

 // @Param: TRIM_X
// @DisplayName: AHRS Trim Roll
// @Description: Compensates for the roll angle difference between the control
board and the frame. Positive values make the vehicle roll right.
// @Units: rad
// @Range: -0.1745 +0.1745
// @Increment: 0.01
// @User: Standard

// @Param: TRIM_Y
// @DisplayName: AHRS Trim Pitch
// @Description: Compensates for the pitch angle difference between the control
board and the frame. Positive values make the vehicle pitch up/back.
// @Units: rad
// @Range: -0.1745 +0.1745
// @Increment: 0.01
// @User: Standard

// @Param: TRIM_Z
// @DisplayName: AHRS Trim Yaw
// @Description: Not Used
// @Units: rad
// @Range: -0.1745 +0.1745
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("TRIM", 8, AP_AHRS, _trim, 0),

// @Param: ORIENTATION
// @DisplayName: Board Orientation
// @Description: Overall board orientation relative to the standard orientation
for the board type. This rotates the IMU and compass readings to allow the board to
be oriented in your vehicle at any 90 or 45 degree angle. The label for each option
is specified in the order of rotations for that orientation. This option takes
affect on next boot. After changing you will need to re-level your vehicle.
Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the
AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two
general custom rotations which can be used, Custom 1 and Custom 2, with
CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.
// @Values:
0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Yaw
45Roll180,10:Yaw90Roll180,11:Yaw135Roll180,12:Pitch180,13:Yaw225Roll180,14:Yaw270Ro
ll180,15:Yaw315Roll180,16:Roll90,17:Yaw45Roll90,18:Yaw90Roll90,19:Yaw135Roll90,20:R
oll270,21:Yaw45Roll270,22:Yaw90Roll270,23:Yaw135Roll270,24:Pitch90,25:Pitch270,26:Y
aw90Pitch180,27:Yaw270Pitch180,28:Pitch90Roll90,29:Pitch90Roll180,30:Pitch90Roll270
,31:Pitch180Roll90,32:Pitch180Roll270,33:Pitch270Roll90,34:Pitch270Roll180,35:Pitch
270Roll270,36:Yaw90Pitch180Roll90,37:Yaw270Roll90,38:Yaw293Pitch68Roll180,39:Pitch3
15,40:Pitch315Roll90,42:Roll45,43:Roll315,100:Custom 4.1 and older,101:Custom
1,102:Custom 2
// @User: Advanced
AP_GROUPINFO("ORIENTATION", 9, AP_AHRS, _board_orientation, 0),

// @Param: COMP_BETA
// @DisplayName: AHRS Velocity Complementary Filter Beta Coefficient
// @Description: This controls the time constant for the cross-over frequency
used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity.
Time constant is 0.1/beta. A larger time constant will use GPS data less and a
small time constant will use air data less.
// @Range: 0.001 0.5
 // @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("COMP_BETA", 10, AP_AHRS, beta, 0.1f),

// @Param: GPS_MINSATS
// @DisplayName: AHRS GPS Minimum satellites
// @Description: Minimum number of satellites visible to use GPS for velocity
based corrections attitude correction. This defaults to 6, which is about the point
at which the velocity numbers from a GPS become too unreliable for accurate
correction of the accelerometers.
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("GPS_MINSATS", 11, AP_AHRS, _gps_minsats, 6),

// NOTE: index 12 was for GPS_DELAY, but now removed, fixed delay
// of 1 was found to be the best choice

// 13 was the old EKF_USE

// @Param: EKF_TYPE
// @DisplayName: Use NavEKF Kalman filter for attitude and position estimation
// @Description: This controls which NavEKF Kalman filter version is used for
attitude and position estimation
// @Values: 0:Disabled,2:Enable EKF2,3:Enable EKF3, 10:Sim, 11:ExternalAHRS
// @User: Advanced
AP_GROUPINFO("EKF_TYPE", 14, AP_AHRS, _ekf_type, HAL_AHRS_EKF_TYPE_DEFAULT),

// @Param: CUSTOM_ROLL
// @DisplayName: Board orientation roll offset
// @Description: Autopilot mounting position roll offset. Positive values =
roll right, negative values = roll left. This parameter is only used when
AHRS_ORIENTATION is set to CUSTOM.
// @Range: -180 180
// @Units: deg
// @Increment: 1
// @User: Advanced

// index 15

// @Param: CUSTOM_PIT
// @DisplayName: Board orientation pitch offset
// @Description: Autopilot mounting position pitch offset. Positive values =
pitch up, negative values = pitch down. This parameter is only used when
AHRS_ORIENTATION is set to CUSTOM.
// @Range: -180 180
// @Units: deg
// @Increment: 1
// @User: Advanced

// index 16

// @Param: CUSTOM_YAW
// @DisplayName: Board orientation yaw offset
// @Description: Autopilot mounting position yaw offset. Positive values = yaw
right, negative values = yaw left. This parameter is only used when
AHRS_ORIENTATION is set to CUSTOM.
// @Range: -180 180
// @Units: deg
 // @Increment: 1
// @User: Advanced

// index 17

// @Param: OPTIONS
// @DisplayName: Optional AHRS behaviour
// @Description: This controls optional AHRS behaviour. Setting
DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-
forward flight to not fall back to DCM when the EKF stops navigating. Setting
DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in
non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops
navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation
check for airspeed consistency
// @Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL,
2:DontDisableAirspeedUsingEKF
// @User: Advanced
AP_GROUPINFO("OPTIONS", 18, AP_AHRS, _options, 0),

AP_GROUPEND
};

extern const AP_HAL::HAL& hal;

// constructor
AP_AHRS::AP_AHRS(uint8_t flags) :
_ekf_flags(flags)
{
_singleton = this;

// load default values from var_info table

AP_Param::setup_object_defaults(this, var_info);

#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduSub)

// Copter and Sub force the use of EKF
_ekf_flags |= AP_AHRS::FLAG_ALWAYS_USE_EKF;
#endif
state.dcm_matrix.identity();

// initialise the controller-to-autopilot-body trim state:

_last_trim = _trim.get();
_rotation_autopilot_body_to_vehicle_body.from_euler(_last_trim.x, _last_trim.y,
_last_trim.z);
_rotation_vehicle_body_to_autopilot_body =
_rotation_autopilot_body_to_vehicle_body.transposed();
}

// init sets up INS board orientation

void AP_AHRS::init()
{
update_orientation();

// EKF1 is no longer supported - handle case where it is selected

if (_ekf_type.get() == 1) {
AP_BoardConfig::config_error("EKF1 not available");
}
#if !HAL_NAVEKF2_AVAILABLE && HAL_NAVEKF3_AVAILABLE
if (_ekf_type.get() == 2) {
_ekf_type.set(EKFType::THREE);
 EKF3.set_enable(true);
}
#elif !HAL_NAVEKF3_AVAILABLE && HAL_NAVEKF2_AVAILABLE
if (_ekf_type.get() == 3) {
_ekf_type.set(EKFType::TWO);
EKF2.set_enable(true);
}
#endif

#if HAL_NAVEKF2_AVAILABLE && HAL_NAVEKF3_AVAILABLE

// a special case to catch users who had AHRS_EKF_TYPE=2 saved and
// updated to a version where EK2_ENABLE=0
if (_ekf_type.get() == 2 && !EKF2.get_enable() && EKF3.get_enable()) {
_ekf_type.set(EKFType::THREE);
}
#endif

last_active_ekf_type = (EKFType)_ekf_type.get();

// init backends
#if AP_AHRS_DCM_ENABLED
[Link]();
#endif
#if AP_AHRS_EXTERNAL_ENABLED
[Link]();
#endif

#if AP_CUSTOMROTATIONS_ENABLED
// convert to new custom rotation
// PARAMETER_CONVERSION - Added: Nov-2021
if (_board_orientation == ROTATION_CUSTOM_OLD) {
_board_orientation.set_and_save(ROTATION_CUSTOM_1);
AP_Param::ConversionInfo info;
if (AP_Param::find_top_level_key_by_pointer(this, info.old_key)) {
[Link] = AP_PARAM_FLOAT;
float rpy[3] = {};
AP_Float rpy_param;
for (info.old_group_element=15; info.old_group_element<=17;
info.old_group_element++) {
if (AP_Param::find_old_parameter(&info, &rpy_param)) {
rpy[info.old_group_element-15] = rpy_param.get();
}
}
AP::custom_rotations().convert(ROTATION_CUSTOM_1, rpy[0], rpy[1],
rpy[2]);
}
}
#endif // AP_CUSTOMROTATIONS_ENABLED
}

// has_status returns information about the EKF health and

// capabilities. It is currently invalid to call this when a
// backend is in charge which returns false for get_filter_status
// - so this will simply return false for DCM, for example.
bool AP_AHRS::has_status(Status status) const {
nav_filter_status filter_status;
if (!get_filter_status(filter_status)) {
return false;
}
 return (filter_status.value & uint32_t(status)) != 0;
}

// updates matrices responsible for rotating vectors from vehicle body

// frame to autopilot body frame from _trim variables
void AP_AHRS::update_trim_rotation_matrices()
{
if (_last_trim == _trim.get()) {
// nothing to do
return;
}

_last_trim = _trim.get();
_rotation_autopilot_body_to_vehicle_body.from_euler(_last_trim.x, _last_trim.y,
_last_trim.z);
_rotation_vehicle_body_to_autopilot_body =
_rotation_autopilot_body_to_vehicle_body.transposed();
}

// return a Quaternion representing our current attitude in NED frame

void AP_AHRS::get_quat_body_to_ned(Quaternion &quat) const
{
quat.from_rotation_matrix(get_rotation_body_to_ned());
}

// convert a vector from body to earth frame

Vector3f AP_AHRS::body_to_earth(const Vector3f &v) const
{
return get_rotation_body_to_ned() * v;
}

// convert a vector from earth to body frame

Vector3f AP_AHRS::earth_to_body(const Vector3f &v) const
{
return get_rotation_body_to_ned().mul_transpose(v);
}

// reset the current gyro drift estimate

// should be called if gyro offsets are recalculated
void AP_AHRS::reset_gyro_drift(void)
{
// support locked access functions to AHRS data
WITH_SEMAPHORE(_rsem);

// update DCM
#if AP_AHRS_DCM_ENABLED
dcm.reset_gyro_drift();
#endif
#if AP_AHRS_EXTERNAL_ENABLED
external.reset_gyro_drift();
#endif

// reset the EKF gyro bias states

#if HAL_NAVEKF2_AVAILABLE
[Link]();
#endif
#if HAL_NAVEKF3_AVAILABLE
[Link]();
#endif
}

/*
update state structure after each update()
*/
void AP_AHRS::update_state(void)
{
const uint8_t primary_gyro = _get_primary_gyro_index();
#if AP_INERTIALSENSOR_ENABLED
// tell the IMUS about primary changes
if (primary_gyro != state.primary_gyro) {
AP::ins().set_primary(primary_gyro);
}
#endif
state.primary_IMU = _get_primary_IMU_index();
state.primary_gyro = primary_gyro;
state.primary_accel = _get_primary_accel_index();
state.primary_core = _get_primary_core_index();
state.wind_estimate_ok = _wind_estimate(state.wind_estimate);
state.EAS2TAS = AP_AHRS_Backend::get_EAS2TAS();
state.airspeed_ok = _airspeed_EAS([Link],
state.airspeed_estimate_type);
state.airspeed_true_ok = _airspeed_TAS(state.airspeed_true);
state.airspeed_vec_ok = _airspeed_TAS(state.airspeed_vec);
state.quat_ok = _get_quaternion([Link]);
state.secondary_attitude_ok =
_get_secondary_attitude(state.secondary_attitude);
state.secondary_quat_ok = _get_secondary_quaternion(state.secondary_quat);
state.location_ok = _get_location([Link]);
state.secondary_pos_ok = _get_secondary_position(state.secondary_pos);
state.ground_speed_vec = _groundspeed_vector();
state.ground_speed = _groundspeed();
_getCorrectedDeltaVelocityNED(state.corrected_dv, state.corrected_dv_dt);
state.origin_ok = _get_origin([Link]);
state.velocity_NED_ok = _get_velocity_NED(state.velocity_NED);
}

// update run at loop rate

void AP_AHRS::update(bool skip_ins_update)
{
// periodically checks to see if we should update the AHRS
// orientation (e.g. based on the AHRS_ORIENTATION parameter)
// allow for runtime change of orientation
// this makes initial config easier
update_orientation();

if (!skip_ins_update) {
// tell the IMU to grab some data
AP::ins().update();
}
float ax, ay, az;
hiwonder_imu.get_accel(ax, ay, az);
// Pass ax, ay, az to EKF

float gx, gy, gz;

hiwonder_imu.get_gyro(gx, gy, gz);
// Pass gx, gy, gz to EKF
float mx, my, mz;
hiwonder_imu.get_mag(mx, my, mz);
// Pass mx, my, mz to EKF
// Assign HiWonder IMU data to main state variables
[Link] = hiwonder_imu.roll;
[Link] = hiwonder_imu.pitch;
[Link] = hiwonder_imu.yaw;

state.accel_ef.x = ax;
state.accel_ef.y = ay;
state.accel_ef.z = az;

state.gyro_estimate.x = gx;
state.gyro_estimate.y = gy;
state.gyro_estimate.z = gz;

state.mag_field.x = mx;
state.mag_field.y = my;
state.mag_field.z = mz;

// Optionally, update the main roll/pitch/yaw variables

roll = hiwonder_imu.roll;
pitch = hiwonder_imu.pitch;
yaw = hiwonder_imu.yaw;
// ...existing code...

// support locked access functions to AHRS data

WITH_SEMAPHORE(_rsem);

// see if we have to restore home after a watchdog reset:

if (!_checked_watchdog_home) {
load_watchdog_home();
_checked_watchdog_home = true;
}

// drop back to normal priority if we were boosted by the INS

// calling delay_microseconds_boost()
[Link]->boost_end();

// update autopilot-body-to-vehicle-body from _trim parameters:

update_trim_rotation_matrices();

#if AP_AHRS_DCM_ENABLED
update_DCM();
#endif

// update takeoff/touchdown flags

update_flags();

#if AP_AHRS_SIM_ENABLED
update_SITL();
#endif

#if AP_AHRS_EXTERNAL_ENABLED
update_external();
#endif

if (_ekf_type == 2) {
// if EK2 is primary then run EKF2 first to give it CPU
 // priority
#if HAL_NAVEKF2_AVAILABLE
update_EKF2();
#endif
#if HAL_NAVEKF3_AVAILABLE
update_EKF3();
#endif
} else {
// otherwise run EKF3 first
#if HAL_NAVEKF3_AVAILABLE
update_EKF3();
#endif
#if HAL_NAVEKF2_AVAILABLE
update_EKF2();
#endif
}

#if AP_MODULE_SUPPORTED
// call AHRS_update hook if any
AP_Module::call_hook_AHRS_update(*this);
#endif

// push gyros if optical flow present

if ([Link]) {
const Vector3f &exported_gyro_bias = get_gyro_drift();
[Link]->push_gyro_bias(exported_gyro_bias.x,
exported_gyro_bias.y);
}

if (_view != nullptr) {
// update optional alternative attitude view
_view->update();
}

// update AOA and SSA

update_AOA_SSA();

#if HAL_GCS_ENABLED
state.active_EKF = _active_EKF_type();
if (state.active_EKF != last_active_ekf_type) {
last_active_ekf_type = state.active_EKF;
const char *shortname = "???";
switch ((EKFType)state.active_EKF) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
shortname = "DCM";
break;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
shortname = "SIM";
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
shortname = "External";
break;
#endif
#if HAL_NAVEKF3_AVAILABLE
 case EKFType::THREE:
shortname = "EKF3";
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
shortname = "EKF2";
break;
#endif
}
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "AHRS: %s active", shortname);
}
#endif // HAL_GCS_ENABLED

// update published state

update_state();

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

/*
add timing jitter to simulate slow EKF response
*/
const auto *sitl = AP::sitl();
if (sitl->loop_time_jitter_us > 0) {
[Link]->delay_microseconds(random() % sitl->loop_time_jitter_us);
}
#endif
}

/*
* copy results from a backend over AP_AHRS canonical results.
* This updates member variables like roll and pitch, as well as
* updating derived values like sin_roll and sin_pitch.
*/
void AP_AHRS::copy_estimates_from_backend_estimates(const
AP_AHRS_Backend::Estimates &results)
{
roll = results.roll_rad;
pitch = results.pitch_rad;
yaw = results.yaw_rad;

state.dcm_matrix = results.dcm_matrix;

state.gyro_estimate = results.gyro_estimate;
state.gyro_drift = results.gyro_drift;

state.accel_ef = results.accel_ef;
state.accel_bias = results.accel_bias;

update_cd_values();
update_trig();
}

#if AP_AHRS_DCM_ENABLED
void AP_AHRS::update_DCM()
{
[Link]();
dcm.get_results(dcm_estimates);

// we always update the vehicle's canonical roll/pitch/yaw from

 // DCM. In normal operation this will usually be over-written by
// an EKF or external AHRS. This is long-held behaviour, but this
// really shouldn't be doing this.

// if (active_EKF_type() == EKFType::DCM) {
copy_estimates_from_backend_estimates(dcm_estimates);
// }
}
#endif

#if AP_AHRS_SIM_ENABLED
void AP_AHRS::update_SITL(void)
{
[Link]();
sim.get_results(sim_estimates);

if (_active_EKF_type() == EKFType::SIM) {
copy_estimates_from_backend_estimates(sim_estimates);
}
}
#endif

void AP_AHRS::update_notify_from_filter_status(const nav_filter_status &status)

{
AP_Notify::flags.gps_fusion = [Link].using_gps; // Drives AP_Notify flag
for usable GPS.
AP_Notify::flags.gps_glitching = [Link].gps_glitching;
AP_Notify::flags.have_pos_abs = [Link].horiz_pos_abs;
}

#if HAL_NAVEKF2_AVAILABLE
void AP_AHRS::update_EKF2(void)
{
if (!_ekf2_started) {
// wait 1 second for DCM to output a valid tilt error estimate
if (start_time_ms == 0) {
start_time_ms = AP_HAL::millis();
}
#if HAL_LOGGING_ENABLED
// if we're doing Replay logging then don't allow any data
// into the EKF yet. Don't allow it to block us for long.
if (![Link]->was_watchdog_reset()) {
if (AP_HAL::millis() - start_time_ms < 5000) {
if (!AP::logger().allow_start_ekf()) {
return;
}
}
}
#endif

if (AP_HAL::millis() - start_time_ms > startup_delay_ms) {

_ekf2_started = [Link]();
}
}
if (_ekf2_started) {
[Link]();
if (_active_EKF_type() == EKFType::TWO) {
Vector3f eulers;
[Link](state.dcm_matrix);
 [Link](eulers);
roll = eulers.x;
pitch = eulers.y;
yaw = eulers.z;

update_cd_values();
update_trig();

// Use the primary EKF to select the primary gyro

const AP_InertialSensor &_ins = AP::ins();
const int8_t primary_imu = [Link]();
const uint8_t primary_gyro = primary_imu>=0?
primary_imu:_ins.get_first_usable_gyro();
const uint8_t primary_accel = primary_imu>=0?
primary_imu:_ins.get_first_usable_accel();

// get gyro bias for primary EKF and change sign to give gyro drift
// Note sign convention used by EKF is bias = measurement - truth
Vector3f drift;
[Link](drift);
state.gyro_drift = -drift;

// use the same IMU as the primary EKF and correct for gyro drift
state.gyro_estimate = _ins.get_gyro(primary_gyro) + state.gyro_drift;

// get z accel bias estimate from active EKF (this is usually for the
primary IMU)
float &abias = state.accel_bias.z;
[Link](abias);

// This EKF is currently using primary_imu, and a bias applies to only

that IMU
Vector3f accel = _ins.get_accel(primary_accel);
accel.z -= abias;
state.accel_ef = state.dcm_matrix *
get_rotation_autopilot_body_to_vehicle_body() * accel;

nav_filter_status filt_state;
[Link](filt_state);
update_notify_from_filter_status(filt_state);
}

/*
if we now have an origin then set in all backends
*/
if (!done_common_origin) {
Location new_origin;
if ([Link](new_origin)) {
done_common_origin = true;
#if HAL_NAVEKF3_AVAILABLE
[Link](new_origin);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
external.set_origin(new_origin);
#endif
}
}
}
}
#endif

#if HAL_NAVEKF3_AVAILABLE
void AP_AHRS::update_EKF3(void)
{
if (!_ekf3_started) {
// wait 1 second for DCM to output a valid tilt error estimate
if (start_time_ms == 0) {
start_time_ms = AP_HAL::millis();
}
#if HAL_LOGGING_ENABLED
// if we're doing Replay logging then don't allow any data
// into the EKF yet. Don't allow it to block us for long.
if (![Link]->was_watchdog_reset()) {
if (AP_HAL::millis() - start_time_ms < 5000) {
if (!AP::logger().allow_start_ekf()) {
return;
}
}
}
#endif
if (AP_HAL::millis() - start_time_ms > startup_delay_ms) {
_ekf3_started = [Link]();
}
}
if (_ekf3_started) {
[Link]();
if (_active_EKF_type() == EKFType::THREE) {
Vector3f eulers;
[Link](state.dcm_matrix);
[Link](eulers);
roll = eulers.x;
pitch = eulers.y;
yaw = eulers.z;

update_cd_values();
update_trig();

const AP_InertialSensor &_ins = AP::ins();

// Use the primary EKF to select the primary gyro

const int8_t primary_imu = [Link]();
const uint8_t primary_gyro = primary_imu>=0?
primary_imu:_ins.get_first_usable_gyro();
const uint8_t primary_accel = primary_imu>=0?
primary_imu:_ins.get_first_usable_accel();

// get gyro bias for primary EKF and change sign to give gyro drift
// Note sign convention used by EKF is bias = measurement - truth
Vector3f drift;
[Link](-1, drift);
state.gyro_drift = -drift;

// use the same IMU as the primary EKF and correct for gyro drift
state.gyro_estimate = _ins.get_gyro(primary_gyro) + state.gyro_drift;

// get 3-axis accel bias estimates for active EKF (this is usually for
the primary IMU)
Vector3f &abias = state.accel_bias;
 [Link](-1,abias);

// use the primary IMU for accel earth frame

Vector3f accel = _ins.get_accel(primary_accel);
accel -= abias;
state.accel_ef = state.dcm_matrix *
get_rotation_autopilot_body_to_vehicle_body() * accel;

nav_filter_status filt_state;
[Link](filt_state);
update_notify_from_filter_status(filt_state);
}
/*
if we now have an origin then set in all backends
*/
if (!done_common_origin) {
Location new_origin;
if ([Link](new_origin)) {
done_common_origin = true;
#if HAL_NAVEKF2_AVAILABLE
[Link](new_origin);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
external.set_origin(new_origin);
#endif
}
}
}
}
#endif

#if AP_AHRS_EXTERNAL_ENABLED
void AP_AHRS::update_external(void)
{
[Link]();
external.get_results(external_estimates);

if (_active_EKF_type() == EKFType::EXTERNAL) {
copy_estimates_from_backend_estimates(external_estimates);
}

/*
if we now have an origin then set in all backends
*/
if (!done_common_origin) {
Location new_origin;
if (external.get_origin(new_origin)) {
done_common_origin = true;
#if HAL_NAVEKF2_AVAILABLE
[Link](new_origin);
#endif
#if HAL_NAVEKF3_AVAILABLE
[Link](new_origin);
#endif
}
}
}
#endif // AP_AHRS_EXTERNAL_ENABLED
void AP_AHRS::reset()
{
// support locked access functions to AHRS data
WITH_SEMAPHORE(_rsem);

#if AP_AHRS_DCM_ENABLED
[Link]();
#endif
#if AP_AHRS_SIM_ENABLED
[Link]();
#endif

#if AP_AHRS_EXTERNAL_ENABLED
[Link]();
#endif

#if HAL_NAVEKF2_AVAILABLE
if (_ekf2_started) {
_ekf2_started = [Link]();
}
#endif
#if HAL_NAVEKF3_AVAILABLE
if (_ekf3_started) {
_ekf3_started = [Link]();
}
#endif
}

// dead-reckoning support
bool AP_AHRS::_get_location(Location &loc) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm_estimates.get_location(loc);
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
if ([Link](loc)) {
return true;
}
break;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
if ([Link](loc)) {
return true;
}
break;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim_estimates.get_location(loc);
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
 return external_estimates.get_location(loc);
#endif
}

#if AP_AHRS_DCM_ENABLED
// fall back to position from DCM
if (!always_use_EKF()) {
return dcm_estimates.get_location(loc);
}
#endif

return false;
}

// status reporting of estimated errors

float AP_AHRS::get_error_rp(void) const
{
#if AP_AHRS_DCM_ENABLED
return dcm.get_error_rp();
#endif
return 0;
}

float AP_AHRS::get_error_yaw(void) const

{
#if AP_AHRS_DCM_ENABLED
return dcm.get_error_yaw();
#endif
return 0;
}

// return a wind estimation vector, in m/s

bool AP_AHRS::_wind_estimate(Vector3f &wind) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.wind_estimate(wind);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.wind_estimate(wind);
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link](wind);
return true;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](wind);
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.wind_estimate(wind);
#endif
}
return false;
}

/*
* Determine how aligned heading_deg is with the wind. Return result
* is 1.0 when perfectly aligned heading into wind, -1 when perfectly
* aligned with-wind, and zero when perfect cross-wind. There is no
* distinction between a left or right cross-wind. Wind speed is ignored
*/
float AP_AHRS::wind_alignment(const float heading_deg) const
{
Vector3f wind;
if (!wind_estimate(wind)) {
return 0;
}
const float wind_heading_rad = atan2f(-wind.y, -wind.x);
return cosf(wind_heading_rad - radians(heading_deg));
}

/*
* returns forward head-wind component in m/s. Negative means tail-wind.
*/
float AP_AHRS::head_wind(void) const
{
const float alignment = wind_alignment(get_yaw_deg());
return alignment * wind_estimate().xy().length();
}

/*
return true if the current AHRS airspeed estimate is directly derived from an
airspeed sensor
*/
bool AP_AHRS::using_airspeed_sensor() const
{
return state.airspeed_estimate_type == AirspeedEstimateType::AIRSPEED_SENSOR;
}

/*
Return true if a airspeed sensor should be used for the AHRS airspeed estimate
*/
bool AP_AHRS::_should_use_airspeed_sensor(uint8_t airspeed_index) const
{
if (!airspeed_sensor_enabled(airspeed_index)) {
return false;
}
nav_filter_status filter_status;
if (!option_set(Options::DISABLE_AIRSPEED_EKF_CHECK) &&
fly_forward &&
[Link]->get_soft_armed() &&
get_filter_status(filter_status) &&
(filter_status.flags.rejecting_airspeed && !
filter_status.flags.dead_reckoning)) {
// special case for when backend is rejecting airspeed data in
// an armed fly_forward state and not dead reckoning. Then the
// airspeed data is highly suspect and will be rejected. We
// will use the synthetic airspeed instead
 return false;
}
return true;
}

// return an airspeed estimate if available. return true

// if we have an estimate
bool AP_AHRS::_airspeed_EAS(float &airspeed_ret, AirspeedEstimateType
&airspeed_estimate_type) const
{
#if AP_AHRS_DCM_ENABLED || (AP_AIRSPEED_ENABLED && AP_GPS_ENABLED)
const uint8_t idx = get_active_airspeed_index();
#endif
#if AP_AIRSPEED_ENABLED && AP_GPS_ENABLED
if (_should_use_airspeed_sensor(idx)) {
airspeed_ret = AP::airspeed()->get_airspeed(idx);

if (_wind_max > 0 && AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {

// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
const float gnd_speed = AP::gps().ground_speed();
float true_airspeed = airspeed_ret * get_EAS2TAS();
true_airspeed = constrain_float(true_airspeed,
gnd_speed - _wind_max,
gnd_speed + _wind_max);
airspeed_ret = true_airspeed / get_EAS2TAS();
}
airspeed_estimate_type = AirspeedEstimateType::AIRSPEED_SENSOR;
return true;
}
#endif

if (!get_wind_estimation_enabled()) {
airspeed_estimate_type = AirspeedEstimateType::NO_NEW_ESTIMATE;
return false;
}

// estimate it via nav velocity and wind estimates

// get wind estimates

Vector3f wind_vel;
bool have_wind = false;

switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
return dcm.airspeed_EAS(idx, airspeed_ret);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
airspeed_estimate_type = AirspeedEstimateType::SIM;
return sim.airspeed_EAS(airspeed_ret);
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
#if AP_AHRS_DCM_ENABLED
 airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
return dcm.airspeed_EAS(idx, airspeed_ret);
#else
return false;
#endif
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
have_wind = [Link](wind_vel);
break;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#if AP_AHRS_DCM_ENABLED
airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
return dcm.airspeed_EAS(idx, airspeed_ret);
#else
return false;
#endif
#endif
}

// estimate it via nav velocity and wind estimates

Vector3f nav_vel;
if (have_wind && have_inertial_nav() && get_velocity_NED(nav_vel)) {
Vector3f true_airspeed_vec = nav_vel - wind_vel;
float true_airspeed = true_airspeed_vec.length();
float gnd_speed = nav_vel.length();
if (_wind_max > 0) {
float tas_lim_lower = MAX(0.0f, (gnd_speed - _wind_max));
float tas_lim_upper = MAX(tas_lim_lower, (gnd_speed + _wind_max));
true_airspeed = constrain_float(true_airspeed, tas_lim_lower,
tas_lim_upper);
} else {
true_airspeed = MAX(0.0f, true_airspeed);
}
airspeed_ret = true_airspeed / get_EAS2TAS();
airspeed_estimate_type = AirspeedEstimateType::EKF3_SYNTHETIC;
return true;
}

#if AP_AHRS_DCM_ENABLED
// fallback to DCM
airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
return dcm.airspeed_EAS(idx, airspeed_ret);
#endif

return false;
}

bool AP_AHRS::_airspeed_TAS(float &airspeed_ret) const

{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.airspeed_TAS(airspeed_ret);
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
break;
}

if (!airspeed_estimate(airspeed_ret)) {
return false;
}
airspeed_ret *= get_EAS2TAS();
return true;
}

// return estimate of true airspeed vector in body frame in m/s

// returns false if estimate is unavailable
bool AP_AHRS::_airspeed_TAS(Vector3f &vec) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](vec);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](vec);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
break;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
}
return false;
}

// return the innovation in m/s, innovation variance in (m/s)^2 and age in msec of
the last TAS measurement processed
// returns false if the data is unavailable
bool AP_AHRS::airspeed_health_data(float &innovation, float &innovationVariance,
uint32_t &age_ms) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
break;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](innovation, innovationVariance, age_ms);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
break;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
}
return false;
}

// return a synthetic EAS estimate (one derived from sensors

// other than an actual airspeed sensor), if available. return
// true if we have a synthetic airspeed. ret will not be modified
// on failure.
bool AP_AHRS::synthetic_airspeed(float &ret) const
{
#if AP_AHRS_DCM_ENABLED
return dcm.synthetic_airspeed_EAS(ret);
#endif
return false;
}

// true if compass is being used

bool AP_AHRS::use_compass(void)
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return EKF2.use_compass();
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.use_compass();
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.use_compass();
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
}
#if AP_AHRS_DCM_ENABLED
return dcm.use_compass();
#endif
return false;
}

// return the quaternion defining the rotation from NED to XYZ (body) axes
bool AP_AHRS::_get_quaternion(Quaternion &quat) const
{
// backends always return in autopilot XYZ frame; rotate result
// according to trim
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
if (!dcm.get_quaternion(quat)) {
return false;
}
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
if (!_ekf2_started) {
return false;
}
[Link](quat);
break;
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
if (!_ekf3_started) {
return false;
}
[Link](quat);
break;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
if (!sim.get_quaternion(quat)) {
return false;
}
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// we assume the external AHRS isn't trimmed with the autopilot!
return external.get_quaternion(quat);
#endif
}
 [Link](-_trim.get());

return true;
}

// return secondary attitude solution if available, as eulers in radians

bool AP_AHRS::_get_secondary_attitude(Vector3f &eulers) const
{
EKFType secondary_ekf_type;
if (!_get_secondary_EKF_type(secondary_ekf_type)) {
return false;
}

switch (secondary_ekf_type) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// DCM is secondary
eulers[0] = dcm_estimates.roll_rad;
eulers[1] = dcm_estimates.pitch_rad;
eulers[2] = dcm_estimates.yaw_rad;
return true;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// EKF2 is secondary
[Link](eulers);
return _ekf2_started;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// EKF3 is secondary
[Link](eulers);
return _ekf3_started;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
// SITL is secondary (should never happen)
return false;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
// External is secondary
eulers[0] = external_estimates.roll_rad;
eulers[1] = external_estimates.pitch_rad;
eulers[2] = external_estimates.yaw_rad;
return true;
}
#endif
}

// since there is no default case above, this is unreachable

return false;
}
// return secondary attitude solution if available, as quaternion
bool AP_AHRS::_get_secondary_quaternion(Quaternion &quat) const
{
EKFType secondary_ekf_type;
if (!_get_secondary_EKF_type(secondary_ekf_type)) {
return false;
}

switch (secondary_ekf_type) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// DCM is secondary
if (!dcm.get_quaternion(quat)) {
return false;
}
break;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// EKF2 is secondary
if (!_ekf2_started) {
return false;
}
[Link](quat);
break;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// EKF3 is secondary
if (!_ekf3_started) {
return false;
}
[Link](quat);
break;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
// SITL is secondary (should never happen)
return false;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// External is secondary
return external.get_quaternion(quat);
#endif
}

[Link](-_trim.get());

return true;
}

// return secondary position solution if available

bool AP_AHRS::_get_secondary_position(Location &loc) const
{
EKFType secondary_ekf_type;
if (!_get_secondary_EKF_type(secondary_ekf_type)) {
return false;
}

switch (secondary_ekf_type) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// return DCM position
loc = dcm_estimates.location;
// FIXME: we intentionally do not return whether location is
// actually valid here so we continue to send mavlink messages
// and log data:
return true;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// EKF2 is secondary
[Link](loc);
return _ekf2_started;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// EKF3 is secondary
[Link](loc);
return _ekf3_started;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
// SITL is secondary (should never happen)
return false;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// External is secondary
return external_estimates.get_location(loc);
#endif
}

// since there is no default case above, this is unreachable

return false;
}

// EKF has a better ground speed vector estimate

Vector2f AP_AHRS::_groundspeed_vector(void)
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.groundspeed_vector();
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: {
Vector3f vec;
[Link](vec);
return [Link]();
}
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
Vector3f vec;
[Link](vec);
return [Link]();
}
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.groundspeed_vector();
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
return external.groundspeed_vector();
}
#endif
}
return Vector2f();
}

float AP_AHRS::_groundspeed(void)
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return [Link]();
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
break;
}
return groundspeed_vector().length();
}

// set the EKF's origin location in 10e7 degrees. This should only
// be called when the EKF has no absolute position reference (i.e. GPS)
// from which to decide the origin on its own
bool AP_AHRS::set_origin(const Location &loc)
{
WITH_SEMAPHORE(_rsem);
#if HAL_NAVEKF2_AVAILABLE
const bool ret2 = [Link](loc);
#endif
#if HAL_NAVEKF3_AVAILABLE
const bool ret3 = [Link](loc);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
const bool ret_ext = external.set_origin(loc);
#endif

// return success if active EKF's origin was set

bool success = false;
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
success = ret2;
break;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
success = ret3;
break;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
// never allow origin set in SITL. The origin is set by the
// simulation backend
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
success = ret_ext;
break;
#endif
}

if (success) {
state.origin_ok = _get_origin([Link]);
#if HAL_LOGGING_ENABLED
Log_Write_Home_And_Origin();
#endif
}
return success;
}

#if AP_AHRS_POSITION_RESET_ENABLED
bool AP_AHRS::handle_external_position_estimate(const Location &loc, float
pos_accuracy, uint32_t timestamp_ms)
{
#if HAL_NAVEKF3_AVAILABLE
return [Link](loc, pos_accuracy, timestamp_ms);
#endif
return false;
}
#endif

// return true if inertial navigation is active

bool AP_AHRS::have_inertial_nav(void) const
{
#if AP_AHRS_DCM_ENABLED
return active_EKF_type() != EKFType::DCM;
#endif
return true;
}

// return a ground velocity in meters/second, North/East/Down

// order. Must only be called if have_inertial_nav() is true
bool AP_AHRS::_get_velocity_NED(Vector3f &vec) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link](vec);
return true;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link](vec);
return true;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_velocity_NED(vec);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_velocity_NED(vec);
#endif
}
#if AP_AHRS_DCM_ENABLED
return dcm.get_velocity_NED(vec);
#endif
return false;
}

// returns the expected NED magnetic field

bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return false;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link](vec);
return true;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link](vec);
return true;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return false;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
}
return false;
}

// returns the estimated magnetic field offsets in body frame

bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return false;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link](vec);
return true;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link](vec);
return true;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return false;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
}
// since there is no default case above, this is unreachable
return false;
}

// get velocity down in m/s. This returns get_velocity_NED.z() if available,

otherwise falls back to get_vert_pos_rate_D()
// if high_vibes is true then this is equivalent to get_vert_pos_rate_D
bool AP_AHRS::get_velocity_D(float &velD, bool high_vibes) const
{
Vector3f velNED;
if (!high_vibes && get_velocity_NED(velNED)) {
velD = velNED.z;
return true;
}
return get_vert_pos_rate_D(velD);
}

// Get a derivative of the vertical position which is kinematically consistent with

the vertical position is required by some control loops.
// This is different to the vertical velocity from the EKF which is not always
consistent with the vertical position due to the various errors that are being
corrected for.
bool AP_AHRS::get_vert_pos_rate_D(float &velocity) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.get_vert_pos_rate_D(velocity);
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
velocity = [Link]();
return true;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
velocity = [Link]();
return true;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_vert_pos_rate_D(velocity);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_vert_pos_rate_D(velocity);
#endif
}
// since there is no default case above, this is unreachable
return false;
}

// get latest height above ground level estimate in metres and a validity flag
bool AP_AHRS::get_hagl(float &height) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return false;
#endif
#if HAL_NAVEKF2_AVAILABLE
 case EKFType::TWO:
return [Link](height);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](height);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_hagl(height);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
return false;
}
#endif
}
// since there is no default case above, this is unreachable
return false;
}

/*
return a relative NED position from the origin in meters
*/
bool AP_AHRS::get_relative_position_NED_origin(Vector3p &vec) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.get_relative_position_NED_origin(vec);
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: {
Vector2p posNE;
postype_t posD;
if ([Link](posNE) && [Link](posD)) {
// position is valid
vec.x = posNE.x;
vec.y = posNE.y;
vec.z = posD;
return true;
}
return false;
}
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
Vector2p posNE;
postype_t posD;
if ([Link](posNE) && [Link](posD)) {
// position is valid
vec.x = posNE.x;
vec.y = posNE.y;
vec.z = posD;
return true;
}
 return false;
}
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_relative_position_NED_origin(vec);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
return external.get_relative_position_NED_origin(vec);
}
#endif
}
// since there is no default case above, this is unreachable
return false;
}

bool AP_AHRS::get_relative_position_NED_origin_float(Vector3f &vec) const

{
Vector3p tmp_posNED;
if (!get_relative_position_NED_origin(tmp_posNED)) {
return false;
}
vec = tmp_posNED.tofloat();
return true;
}

/*
return a relative ground position from home in meters
*/
bool AP_AHRS::get_relative_position_NED_home(Vector3f &vec) const
{
Location loc;
if (!_home_is_set ||
!get_location(loc)) {
return false;
}
vec = _home.get_distance_NED(loc);
return true;
}

/*
return a relative position estimate from the origin in meters
*/
bool AP_AHRS::get_relative_position_NE_origin(Vector2p &posNE) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.get_relative_position_NE_origin(posNE);
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: {
bool position_is_valid = [Link](posNE);
return position_is_valid;
}
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
bool position_is_valid = [Link](posNE);
return position_is_valid;
}
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM: {
return sim.get_relative_position_NE_origin(posNE);
}
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_relative_position_NE_origin(posNE);
#endif
}
// since there is no default case above, this is unreachable
return false;
}

bool AP_AHRS::get_relative_position_NE_origin_float(Vector2f &posNE) const

{
Vector2p tmp_posNE;
if (!get_relative_position_NE_origin(tmp_posNE)) {
return false;
}
posNE = tmp_posNE.tofloat();
return true;
}

/*
return a relative ground position from home in meters North/East
*/
bool AP_AHRS::get_relative_position_NE_home(Vector2f &posNE) const
{
Location loc;
if (!_home_is_set ||
!get_location(loc)) {
return false;
}

posNE = _home.get_distance_NE(loc);
return true;
}

// write a relative ground position estimate to the origin in meters, North/East

order

/*
return a relative ground position from the origin in meters, down
*/
bool AP_AHRS::get_relative_position_D_origin(postype_t &posD) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.get_relative_position_D_origin(posD);
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: {
bool position_is_valid = [Link](posD);
return position_is_valid;
}
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
bool position_is_valid = [Link](posD);
return position_is_valid;
}
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_relative_position_D_origin(posD);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_relative_position_D_origin(posD);
#endif
}
// since there is no default case above, this is unreachable
return false;
}

bool AP_AHRS::get_relative_position_D_origin_float(float &posD) const

{
postype_t tmp_posD;
if (!get_relative_position_D_origin(tmp_posD)) {
return false;
}
posD = float(tmp_posD);
return true;
}

/*
return relative position from home in meters
*/
void AP_AHRS::get_relative_position_D_home(float &posD) const
{
if (!_home_is_set) {
// fall back to an altitude derived from barometric pressure
// differences vs a calibrated ground pressure:
posD = -AP::baro().get_altitude();
return;
}

Location originLLH;
postype_t originD;
if (!get_relative_position_D_origin(originD) ||
!_get_origin(originLLH)) {
#if AP_GPS_ENABLED
const auto &gps = AP::gps();
if (_gps_use == GPSUse::EnableWithHeight &&
[Link]() >= AP_GPS::GPS_OK_FIX_3D) {
posD = (_home.alt - [Link]().alt) * 0.01;
 return;
}
#endif
posD = -AP::baro().get_altitude();
return;
}

posD = originD - (([Link] - _home.alt) * 0.01f);

return;
}
/*
canonicalise _ekf_type, forcing it to be 0, 2 or 3
type 1 has been deprecated
*/
AP_AHRS::EKFType AP_AHRS::ekf_type(void) const
{
EKFType type = (EKFType)_ekf_type.get();
switch (type) {
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return type;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return type;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return type;
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return type;
#endif
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
if (always_use_EKF()) {
#if HAL_NAVEKF2_AVAILABLE
return EKFType::TWO;
#elif HAL_NAVEKF3_AVAILABLE
return EKFType::THREE;
#endif
}
return EKFType::DCM;
#endif
}
// we can get to here if the user has mis-set AHRS_EKF_TYPE - any
// value above 3 will get to here. TWO is returned here for no
// better reason than "tradition".
#if HAL_NAVEKF2_AVAILABLE
return EKFType::TWO;
#elif HAL_NAVEKF3_AVAILABLE
return EKFType::THREE;
#elif AP_AHRS_DCM_ENABLED
return EKFType::DCM;
#else
#error "no default backend available"
#endif
}
AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
{
EKFType ret = fallback_active_EKF_type();

switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return EKFType::DCM;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: {
// do we have an EKF2 yet?
if (!_ekf2_started) {
return fallback_active_EKF_type();
}
if (always_use_EKF()) {
uint16_t ekf2_faults;
[Link](ekf2_faults);
if (ekf2_faults == 0) {
ret = EKFType::TWO;
}
} else if ([Link]()) {
ret = EKFType::TWO;
}
break;
}
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
// do we have an EKF3 yet?
if (!_ekf3_started) {
return fallback_active_EKF_type();
}
if (always_use_EKF()) {
uint16_t ekf3_faults;
[Link](ekf3_faults);
if (ekf3_faults == 0) {
ret = EKFType::THREE;
}
} else if ([Link]()) {
ret = EKFType::THREE;
}
break;
}
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
ret = EKFType::SIM;
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
ret = EKFType::EXTERNAL;
break;
#endif
 }

#if AP_AHRS_DCM_ENABLED
// Handle fallback for fixed wing planes (including VTOL's) and ground
vehicles.
if (_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) {
bool should_use_gps = true;
nav_filter_status filt_state {};
switch (ret) {
case EKFType::DCM:
// already using DCM
break;
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link](filt_state);
should_use_gps = [Link]();
break;
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link](filt_state);
should_use_gps = [Link]();
break;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
get_filter_status(filt_state);
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
get_filter_status(filt_state);
should_use_gps = true;
break;
#endif
}

// Handle fallback for the case where the DCM or EKF is unable to provide
attitude or height data.
const bool can_use_dcm = dcm.yaw_source_available() || fly_forward;
const bool can_use_ekf = filt_state.[Link] &&
filt_state.flags.vert_vel && filt_state.flags.vert_pos;
if (!can_use_dcm && can_use_ekf) {
// no choice - continue to use EKF
return ret;
} else if (!can_use_ekf) {
// No choice - we have to use DCM
return EKFType::DCM;
}

const bool disable_dcm_fallback = fly_forward?

option_set(Options::DISABLE_DCM_FALLBACK_FW) :
option_set(Options::DISABLE_DCM_FALLBACK_VTOL);
if (disable_dcm_fallback) {
// don't fallback
return ret;
}
 // Handle loss of global position when we still have a GPS fix
if ([Link]->get_soft_armed() &&
(_gps_use != GPSUse::Disable) &&
should_use_gps &&
AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D &&
(!filt_state.flags.using_gps || !filt_state.flags.horiz_pos_abs)) {
/*
If the EKF is not fusing GPS or doesn't have a 2D fix and we have a
3D GPS lock,
then plane and rover would prefer to use the GPS position from DCM
unless the
fallback has been inhibited by the user.
Note: The aircraft could be dead reckoning with acceptable accuracy
and rejecting a bad GPS
Note: This is a last resort fallback and makes the navigation highly
vulnerable to GPS noise.
Note: When operating in a VTOL flight mode that actively controls
height such as QHOVER,
the EKF gives better vertical velocity and position estimates and
height control characteristics.
*/
return EKFType::DCM;
}

// Handle complete loss of navigation

if ([Link]->get_soft_armed() && filt_state.flags.const_pos_mode) {
/*
Provided the EKF has been configured to use GPS, ie should_use_gps
is true, then the
key difference to the case handled above is only the absence of a
GPS fix which means
that DCM will not be able to navigate either so we are primarily
concerned with
providing an attitude, vertical position and vertical velocity
estimate.
*/
return EKFType::DCM;
}

if (!filt_state.flags.horiz_vel ||
(!filt_state.flags.horiz_pos_abs && !filt_state.flags.horiz_pos_rel)) {
if ((!AP::compass().use_for_yaw()) &&
AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D &&
AP::gps().ground_speed() < 2) {
/*
special handling for non-compass mode when sitting
still. The EKF may not yet have aligned its yaw. We
accept EKF as healthy to allow arming. Once we reach
speed the EKF should get yaw alignment
*/
if (filt_state.flags.gps_quality_good) {
return ret;
}
}
return EKFType::DCM;
}
}
#endif
 return ret;
}

AP_AHRS::EKFType AP_AHRS::fallback_active_EKF_type(void) const

{
#if AP_AHRS_DCM_ENABLED
return EKFType::DCM;
#endif

#if HAL_NAVEKF3_AVAILABLE
if (_ekf3_started) {
return EKFType::THREE;
}
#endif

#if HAL_NAVEKF2_AVAILABLE
if (_ekf2_started) {
return EKFType::TWO;
}
#endif

#if AP_AHRS_EXTERNAL_ENABLED
if ([Link]()) {
return EKFType::EXTERNAL;
}
#endif

// so nobody is ready yet. Return something, even if it is not ready:

#if HAL_NAVEKF3_AVAILABLE
return EKFType::THREE;
#elif HAL_NAVEKF2_AVAILABLE
return EKFType::TWO;
#elif AP_AHRS_EXTERNAL_ENABLED
return EKFType::EXTERNAL;
#endif
}

// get secondary EKF type. returns false if no secondary (i.e. only using DCM)
bool AP_AHRS::_get_secondary_EKF_type(EKFType &secondary_ekf_type) const
{

switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// EKF2, EKF3 or External is secondary
#if HAL_NAVEKF3_AVAILABLE
if ((EKFType)_ekf_type.get() == EKFType::THREE) {
secondary_ekf_type = EKFType::THREE;
return true;
}
#endif
#if HAL_NAVEKF2_AVAILABLE
if ((EKFType)_ekf_type.get() == EKFType::TWO) {
secondary_ekf_type = EKFType::TWO;
return true;
}
#endif
#if AP_AHRS_EXTERNAL_ENABLED
if ((EKFType)_ekf_type.get() == EKFType::EXTERNAL) {
 secondary_ekf_type = EKFType::EXTERNAL;
return true;
}
#endif
return false;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
// DCM is secondary
secondary_ekf_type = fallback_active_EKF_type();
return true;
}

// since there is no default case above, this is unreachable

return false;
}

/*
check if the AHRS subsystem is healthy
*/
bool AP_AHRS::healthy(void) const
{
// If EKF is started we switch away if it reports unhealthy. This could be due
to bad
// sensor data. If EKF reversion is inhibited, we only switch across if the EKF
encounters
// an internal processing error, but not for bad sensor data.
switch (ekf_type()) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return [Link]();
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: {
bool ret = _ekf2_started && [Link]();
if (!ret) {
return false;
}
if ((_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::TWO) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled
return false;
}
return true;
}
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
bool ret = _ekf3_started && [Link]();
if (!ret) {
return false;
}
if ((_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::THREE) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled
return false;
}
return true;
}
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return [Link]();
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return [Link]();
#endif
}

return false;
}

// returns false if we fail arming checks, in which case the buffer will be
populated with a failure message
// requires_position should be true if horizontal position configuration should be
checked
bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t
failure_msg_len) const
{
bool ret = true;
if (!healthy()) {
// this rather generic failure might be overwritten by
// something more specific in the "backend"
[Link]->snprintf(failure_msg, failure_msg_len, "Not healthy");
ret = false;
}

#if AP_AHRS_EXTERNAL_ENABLED
// Always check external AHRS if enabled
// it is a source for IMU data even if not being used as direct AHRS
replacement
if (AP::externalAHRS().enabled() || (ekf_type() == EKFType::EXTERNAL)) {
if (!AP::externalAHRS().pre_arm_check(failure_msg, failure_msg_len)) {
return false;
}
}
#endif

if (!attitudes_consistent(failure_msg, failure_msg_len)) {
 return false;
}

// ensure we're using the configured backend, but bypass in compass-less cases:
if (ekf_type() != active_EKF_type() && AP::compass().use_for_yaw()) {
[Link]->snprintf(failure_msg, failure_msg_len, "not using configured AHRS
type");
return false;
}

switch (ekf_type()) {
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return ret;
#endif

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.pre_arm_check(requires_position, failure_msg, failure_msg_len)
&& ret;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.pre_arm_check(requires_position, failure_msg,
failure_msg_len);
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
if (!_ekf2_started) {
[Link]->snprintf(failure_msg, failure_msg_len, "EKF2 not started");
return false;
}
return EKF2.pre_arm_check(failure_msg, failure_msg_len) && ret;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
if (!_ekf3_started) {
[Link]->snprintf(failure_msg, failure_msg_len, "EKF3 not started");
return false;
}
return EKF3.pre_arm_check(requires_position, failure_msg, failure_msg_len)
&& ret;
#endif
}

// if we get here then ekf type is invalid

[Link]->snprintf(failure_msg, failure_msg_len, "invalid EKF type");
return false;
}

// true if the AHRS has completed initialisation

bool AP_AHRS::initialised(void) const
{
switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
 return true;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// initialisation complete 10sec after ekf has started
return (_ekf2_started && (AP_HAL::millis() - start_time_ms >
AP_AHRS_NAVEKF_SETTLE_TIME_MS));
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// initialisation complete 10sec after ekf has started
return (_ekf3_started && (AP_HAL::millis() - start_time_ms >
AP_AHRS_NAVEKF_SETTLE_TIME_MS));
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return true;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return [Link]();
#endif
}
return false;
};

// get_filter_status : returns filter status as a series of flags

bool AP_AHRS::get_filter_status(nav_filter_status &status) const
{
switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.get_filter_status(status);
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link](status);
return true;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link](status);
return true;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_filter_status(status);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_filter_status(status);
#endif
}
 return false;
}

// write optical flow data to EKF

void AP_AHRS::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f
&rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const
Vector3f &posOffset, float heightOverride)
{
#if HAL_NAVEKF2_AVAILABLE
[Link](rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas,
posOffset, heightOverride);
#endif
#if EK3_FEATURE_OPTFLOW_FUSION
[Link](rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas,
posOffset, heightOverride);
#endif
}

// retrieve latest corrected optical flow samples (used for calibration)

bool AP_AHRS::getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate,
Vector2f& bodyRate, Vector2f& losPred) const
{
#if EK3_FEATURE_OPTFLOW_FUSION
return [Link](timeStamp_ms, flowRate, bodyRate, losPred);
#endif
return false;
}

// write body frame odometry measurements to the EKF

void AP_AHRS::writeBodyFrameOdom(float quality, const Vector3f &delPos, const
Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const
Vector3f &posOffset)
{
#if HAL_NAVEKF3_AVAILABLE
[Link](quality, delPos, delAng, delTime, timeStamp_ms,
delay_ms, posOffset);
#endif
}

// Write position and quaternion data from an external navigation system

void AP_AHRS::writeExtNavData(const Vector3f &pos, const Quaternion &quat, float
posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t
resetTime_ms)
{
#if HAL_NAVEKF2_AVAILABLE
[Link](pos, quat, posErr, angErr, timeStamp_ms, delay_ms,
resetTime_ms);
#endif
#if HAL_NAVEKF3_AVAILABLE
[Link](pos, quat, posErr, angErr, timeStamp_ms, delay_ms,
resetTime_ms);
#endif
}

// Writes the default equivalent airspeed and 1-sigma uncertainty in m/s to be used
in forward flight if a measured airspeed is required and not available.
void AP_AHRS::writeDefaultAirSpeed(float airspeed, float uncertainty)
{
#if HAL_NAVEKF2_AVAILABLE
[Link](airspeed);
#endif
#if HAL_NAVEKF3_AVAILABLE
[Link](airspeed, uncertainty);
#endif
}

// Write velocity data from an external navigation system

void AP_AHRS::writeExtNavVelData(const Vector3f &vel, float err, uint32_t
timeStamp_ms, uint16_t delay_ms)
{
#if HAL_NAVEKF2_AVAILABLE
[Link](vel, err, timeStamp_ms, delay_ms);
#endif
#if HAL_NAVEKF3_AVAILABLE
[Link](vel, err, timeStamp_ms, delay_ms);
#endif
}

// get speed limit and XY navigation gain scale factor

void AP_AHRS::getControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler)
const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
dcm.get_control_limits(ekfGndSpdLimit, ekfNavVelGainScaler);
break;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link](ekfGndSpdLimit,ekfNavVelGainScaler);
break;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link](ekfGndSpdLimit,ekfNavVelGainScaler);
break;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
sim.get_control_limits(ekfGndSpdLimit, ekfNavVelGainScaler);
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// no limit on gains, large vel limit
ekfGndSpdLimit = 400;
ekfNavVelGainScaler = 1;
break;
#endif
}
}

/*
 get gain factor for Z controllers
*/
float AP_AHRS::getControlScaleZ(void) const
{
#if AP_AHRS_DCM_ENABLED
if (active_EKF_type() == EKFType::DCM) {
// when flying on DCM lower gains by 4x to cope with the high
// lag
return 0.25;
}
#endif
return 1;
}

// get compass offset estimates

// true if offsets are valid
bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
{
switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return false;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](mag_idx, magOffsets);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](mag_idx, magOffsets);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
[Link]();
return true;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
}
// since there is no default case above, this is unreachable
return false;
}

// Retrieves the NED delta velocity corrected

void AP_AHRS::_getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const
{
int8_t imu_idx = -1;
Vector3f accel_bias;
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
 imu_idx = [Link]();
[Link](accel_bias.z);
break;
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
imu_idx = [Link]();
[Link](-1,accel_bias);
break;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
}
[Link]();
if (imu_idx == -1) {
AP::ins().get_delta_velocity(ret, dt);
return;
}
AP::ins().get_delta_velocity((uint8_t)imu_idx, ret, dt);
ret -= accel_bias*dt;
ret = state.dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * ret;
ret.z += GRAVITY_MSS*dt;
}

void AP_AHRS::set_failure_inconsistent_message(const char *estimator, const char

*axis, float diff_rad, char *failure_msg, const uint8_t failure_msg_len) const
{
[Link]->snprintf(failure_msg, failure_msg_len, "%s %s inconsistent %d deg.
Wait or reboot", estimator, axis, (int)degrees(diff_rad));
}

// check all cores providing consistent attitudes for prearm checks

bool AP_AHRS::attitudes_consistent(char *failure_msg, const uint8_t
failure_msg_len) const
{
// get primary attitude source's attitude as quaternion
Quaternion primary_quat;
get_quat_body_to_ned(primary_quat);
// only check yaw if compasses are being used
const bool check_yaw = AP::compass().use_for_yaw();
uint8_t total_ekf_cores = 0;

#if HAL_NAVEKF2_AVAILABLE
// check primary vs ekf2
if (ekf_type() == EKFType::TWO || active_EKF_type() == EKFType::TWO) {
for (uint8_t i = 0; i < [Link](); i++) {
Quaternion ekf2_quat;
[Link](i, ekf2_quat);

// check roll and pitch difference

const float rp_diff_rad =
primary_quat.roll_pitch_difference(ekf2_quat);
if (rp_diff_rad > ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD) {
 set_failure_inconsistent_message("EKF2", "Roll/Pitch", rp_diff_rad,
failure_msg, failure_msg_len);
return false;
}

// check yaw difference

Vector3f angle_diff;
primary_quat.angular_difference(ekf2_quat).to_axis_angle(angle_diff);
const float yaw_diff = fabsf(angle_diff.z);
if (check_yaw && (yaw_diff > ATTITUDE_CHECK_THRESH_YAW_RAD)) {
set_failure_inconsistent_message("EKF2", "Yaw", yaw_diff,
failure_msg, failure_msg_len);
return false;
}
}
total_ekf_cores = [Link]();
}
#endif

#if HAL_NAVEKF3_AVAILABLE
// check primary vs ekf3
if (ekf_type() == EKFType::THREE || active_EKF_type() == EKFType::THREE) {
for (uint8_t i = 0; i < [Link](); i++) {
Quaternion ekf3_quat;
[Link](i, ekf3_quat);

// check roll and pitch difference

const float rp_diff_rad =
primary_quat.roll_pitch_difference(ekf3_quat);
if (rp_diff_rad > ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD) {
set_failure_inconsistent_message("EKF3", "Roll/Pitch", rp_diff_rad,
failure_msg, failure_msg_len);
return false;
}

// check yaw difference

Vector3f angle_diff;
primary_quat.angular_difference(ekf3_quat).to_axis_angle(angle_diff);
const float yaw_diff = fabsf(angle_diff.z);
if (check_yaw && (yaw_diff > ATTITUDE_CHECK_THRESH_YAW_RAD)) {
set_failure_inconsistent_message("EKF3", "Yaw", yaw_diff,
failure_msg, failure_msg_len);
return false;
}
}
total_ekf_cores += [Link]();
}
#endif

#if AP_AHRS_DCM_ENABLED
// check primary vs dcm
if (!always_use_EKF() || (total_ekf_cores == 1)) {
Quaternion dcm_quat;
dcm_quat.from_rotation_matrix(get_DCM_rotation_body_to_ned());

// check roll and pitch difference

const float rp_diff_rad = primary_quat.roll_pitch_difference(dcm_quat);
if (rp_diff_rad > ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD) {
set_failure_inconsistent_message("DCM", "Roll/Pitch", rp_diff_rad,
failure_msg, failure_msg_len);
return false;
}

// Check vs DCM yaw if this vehicle could use DCM in flight

// and if not using an external yaw source (DCM does not support external
yaw sources)
bool using_noncompass_for_yaw = false;
#if HAL_NAVEKF3_AVAILABLE
using_noncompass_for_yaw = (ekf_type() == EKFType::THREE) &&
EKF3.using_noncompass_for_yaw();
#endif
if (!always_use_EKF() && !using_noncompass_for_yaw) {
Vector3f angle_diff;
primary_quat.angular_difference(dcm_quat).to_axis_angle(angle_diff);
const float yaw_diff = fabsf(angle_diff.z);
if (check_yaw && (yaw_diff > ATTITUDE_CHECK_THRESH_YAW_RAD)) {
set_failure_inconsistent_message("DCM", "Yaw", yaw_diff,
failure_msg, failure_msg_len);
return false;
}
}
}
#endif

return true;
}

// return the amount of yaw angle change due to the last yaw angle reset in radians
// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
uint32_t AP_AHRS::getLastYawResetAngle(float &yawAng)
{
switch (active_EKF_type()) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return [Link](yawAng);
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](yawAng);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](yawAng);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return [Link](yawAng);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return [Link](yawAng);
#endif
}
return 0;
}

// return the amount of NE position change in metres due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t AP_AHRS::getLastPosNorthEastReset(Vector2f &pos)
{
switch (active_EKF_type()) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return 0;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](pos);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](pos);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return [Link](pos);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return 0;
#endif
}
return 0;
}

// return the amount of NE velocity change in metres/sec due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t AP_AHRS::getLastVelNorthEastReset(Vector2f &vel) const
{
switch (active_EKF_type()) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return 0;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](vel);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](vel);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return [Link](vel);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return 0;
#endif
}
return 0;
}

// return the amount of vertical position change due to the last reset in meters
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t AP_AHRS::getLastPosDownReset(float &posDelta)
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return 0;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](posDelta);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](posDelta);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return [Link](posDelta);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return 0;
#endif
}
return 0;
}

// Resets the baro so that it reads zero at the current height

// Resets the EKF height to zero
// Adjusts the EKf origin height so that the EKF height + origin height is the same
as before
// Returns true if the height datum reset has been performed
// If using a range finder for height no reset is performed and it returns false
bool AP_AHRS::resetHeightDatum(void)
{
// support locked access functions to AHRS data
WITH_SEMAPHORE(_rsem);

switch (ekf_type()) {

#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
#if HAL_NAVEKF3_AVAILABLE
[Link]();
#endif
#if HAL_NAVEKF2_AVAILABLE
[Link]();
#endif
return false;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
#if HAL_NAVEKF3_AVAILABLE
[Link]();
#endif
return [Link]();
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
#if HAL_NAVEKF2_AVAILABLE
[Link]();
#endif
return [Link]();
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return [Link]();
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
}
return false;
}

// send a EKF_STATUS_REPORT for configured EKF

void AP_AHRS::send_ekf_status_report(GCS_MAVLINK &link) const
{
switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// send zero status report
dcm.send_ekf_status_report(link);
break;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
sim.send_ekf_status_report(link);
break;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL: {
external.send_ekf_status_report(link);
break;
}
#endif

#if HAL_NAVEKF2_AVAILABLE
 case EKFType::TWO:
return EKF2.send_status_report(link);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.send_status_report(link);
#endif

}
}

// return origin for a specified EKF type

bool AP_AHRS::_get_origin(EKFType type, Location &ret) const
{
switch (type) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
return dcm.get_origin(ret);
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](ret);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](ret);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_origin(ret);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_origin(ret);
#endif
}
return false;
}

/*
return origin for the configured EKF type. If we are armed and the
configured EKF type cannot return an origin then return origin for
the active EKF type (if available)

This copes with users force arming a plane that is running on DCM as
the EKF has not fully initialised
*/
bool AP_AHRS::_get_origin(Location &ret) const
{
if (_get_origin(ekf_type(), ret)) {
return true;
}
if ([Link]->get_soft_armed() && _get_origin(active_EKF_type(), ret)) {
return true;
}
 return false;
}

bool AP_AHRS::set_home(const Location &loc)

{
WITH_SEMAPHORE(_rsem);
// check location is valid
if ([Link] == 0 && [Link] == 0 && [Link] == 0) {
return false;
}
if (!loc.check_latlng()) {
return false;
}
// home must always be global frame at the moment as .alt is
// accessed directly by the vehicles and they may not be rigorous
// in checking the frame type.
Location tmp = loc;
if (!tmp.change_alt_frame(Location::AltFrame::ABSOLUTE)) {
return false;
}

#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) && HAL_LOGGING_ENABLED

if (!_home_is_set) {
// record home is set
AP::logger().Write_Event(LogEvent::SET_HOME);
}
#endif

_home = tmp;
_home_is_set = true;

#if HAL_LOGGING_ENABLED
Log_Write_Home_And_Origin();
#endif

// send new home and ekf origin to GCS

GCS_SEND_MESSAGE(MSG_HOME);
GCS_SEND_MESSAGE(MSG_ORIGIN);

AP_HAL::Util::PersistentData &pd = [Link]->persistent_data;

pd.home_lat = [Link];
pd.home_lon = [Link];
pd.home_alt_cm = [Link];

#if AP_MISSION_ENABLED
// Save home to mission
AP_Mission *mission = AP::mission();
if (mission != nullptr) {
mission->write_home_to_storage();
}
#endif

return true;
}

/* if this was a watchdog reset then get home from backup registers */
void AP_AHRS::load_watchdog_home()
{
const AP_HAL::Util::PersistentData &pd = [Link]->persistent_data;
 if ([Link]->was_watchdog_reset() && (pd.home_lat != 0 || pd.home_lon != 0)) {
_home.lat = pd.home_lat;
_home.lng = pd.home_lon;
_home.set_alt_cm(pd.home_alt_cm, Location::AltFrame::ABSOLUTE);
_home_is_set = true;
_home_locked = true;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Restored watchdog home");
}
}

// get_hgt_ctrl_limit - get maximum height to be observed by the control loops in

metres and a validity flag
// this is used to limit height during optical flow navigation
// it will return false when no limiting is required
bool AP_AHRS::get_hgt_ctrl_limit(float& limit) const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// We are not using an EKF so no limiting applies
return false;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link](limit);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link](limit);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_hgt_ctrl_limit(limit);
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
}

return false;
}

// Set to true if the terrain underneath is stable enough to be used as a height

reference
// this is not related to terrain following
void AP_AHRS::set_terrain_hgt_stable(bool stable)
{
// avoid repeatedly setting variable in NavEKF objects to prevent
// spurious event logging
switch (terrainHgtStableState) {
case TriState::UNKNOWN:
break;
case TriState::True:
if (stable) {
return;
 }
break;
case TriState::False:
if (!stable) {
return;
}
break;
}
terrainHgtStableState = (TriState)stable;

#if HAL_NAVEKF2_AVAILABLE
[Link](stable);
#endif
#if HAL_NAVEKF3_AVAILABLE
[Link](stable);
#endif
}

// return the innovations for the primarily EKF

// boolean false is returned if innovations are not available
bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f
&magInnov, float &tasInnov, float &yawInnov) const
{
switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// We are not using an EKF so no data
return false;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// use EKF to get innovations
return [Link](velInnov, posInnov, magInnov, tasInnov,
yawInnov);
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// use EKF to get innovations
return [Link](velInnov, posInnov, magInnov, tasInnov,
yawInnov);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
return sim.get_innovations(velInnov, posInnov, magInnov, tasInnov,
yawInnov);
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
}

return false;
}
// returns true when the state estimates are significantly degraded by vibration
bool AP_AHRS::is_vibration_affected() const
{
switch (ekf_type()) {
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link]();
#endif
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return false;
}
return false;
}

// get_variances - provides the innovations normalised using the innovation

variance where a value of 0
// indicates prefect consistency between the measurement and the EKF solution and a
value of 1 is the maximum
// inconsistency that will be accepted by the filter
// boolean false is returned if variances are not available
bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f
&magVar, float &tasVar) const
{
switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// We are not using an EKF so no data
return false;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: {
// use EKF to get variance
Vector2f offset;
return [Link](velVar, posVar, hgtVar, magVar, tasVar, offset);
}
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
// use EKF to get variance
Vector2f offset;
return [Link](velVar, posVar, hgtVar, magVar, tasVar, offset);
}
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
 return sim.get_variances(velVar, posVar, hgtVar, magVar, tasVar);
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return external.get_variances(velVar, posVar, hgtVar, magVar, tasVar);
#endif
}

return false;
}

// get a source's velocity innovations. source should be from 0 to 7 (see

AP_NavEKF_Source::SourceXY)
// returns true on success and results are placed in innovations and variances
arguments
bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vector3f
&innovations, Vector3f &variances) const
{
switch (ekf_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// We are not using an EKF so no data
return false;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// EKF2 does not support source level variances
return false;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// use EKF to get variance
return
[Link]((AP_NavEKF_Source::SourceXY)source,
innovations, variances);
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
// SITL does not support source level variances
return false;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
return false;
#endif
}

return false;
}

//get the index of the active airspeed sensor, wrt the primary core
uint8_t AP_AHRS::get_active_airspeed_index() const
{
#if AP_AIRSPEED_ENABLED
 const auto *airspeed = AP::airspeed();
if (airspeed == nullptr) {
return 0;
}

// we only have affinity for EKF3 as of now

#if HAL_NAVEKF3_AVAILABLE
if (active_EKF_type() == EKFType::THREE) {
uint8_t ret = [Link]();
if (ret != UINT8_MAX && airspeed->healthy(ret) && airspeed->use(ret)) {
return ret;
}
}
#endif

// for the rest, let the primary airspeed sensor be used

return airspeed->get_primary();
#else

return 0;
#endif // AP_AIRSPEED_ENABLED
}

// get the index of the current primary IMU

uint8_t AP_AHRS::_get_primary_IMU_index() const
{
int8_t imu = -1;
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
// let EKF2 choose primary IMU
imu = [Link]();
break;
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// let EKF2 choose primary IMU
imu = [Link]();
break;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
break;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif
}
if (imu == -1) {
imu = AP::ins().get_first_usable_gyro();
}
return imu;
}
// return the index of the primary core or -1 if no primary core selected
int8_t AP_AHRS::_get_primary_core_index() const
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
// we have only one core
return 0;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
// we have only one core
return 0;
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
// we have only one core
return 0;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link]();
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return [Link]();
#endif
}

// we should never get here

INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return -1;
}

// get the index of the current primary accelerometer sensor

uint8_t AP_AHRS::_get_primary_accel_index(void) const
{
return _get_primary_IMU_index();
}

// get the index of the current primary gyro sensor

uint8_t AP_AHRS::_get_primary_gyro_index(void) const
{
return _get_primary_IMU_index();
}

// see if EKF lane switching is possible to avoid EKF failsafe

void AP_AHRS::check_lane_switch(void)
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif

#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
 break;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link]();
break;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link]();
break;
#endif
}
}

// request EKF yaw reset to try and avoid the need for an EKF lane switch or
failsafe
void AP_AHRS::request_yaw_reset(void)
{
switch (active_EKF_type()) {
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
break;
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
break;
#endif

#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
break;
#endif

#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
[Link]();
break;
#endif

#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
[Link]();
break;
#endif
}
}

// set position, velocity and yaw sources to either 0=primary, 1=secondary,

2=tertiary
void AP_AHRS::set_posvelyaw_source_set(AP_NavEKF_Source::SourceSetSelection
source_set_idx)
{
#if HAL_NAVEKF3_AVAILABLE
[Link]((uint8_t)source_set_idx);
#endif
}

//returns active source set used, 0=primary, 1=secondary, 2=tertiary

uint8_t AP_AHRS::get_posvelyaw_source_set() const
{
#if HAL_NAVEKF3_AVAILABLE
return EKF3.get_active_source_set();
#else
return 0;
#endif
}

void AP_AHRS::Log_Write()
{
#if HAL_NAVEKF2_AVAILABLE
EKF2.Log_Write();
#endif
#if HAL_NAVEKF3_AVAILABLE
EKF3.Log_Write();
#endif

Write_AHRS2();
Write_POS();

#if AP_AHRS_SIM_ENABLED
AP::sitl()->Log_Write_SIMSTATE();
#endif
}

// check if non-compass sensor is providing yaw. Allows compass pre-arm checks to

be bypassed
bool AP_AHRS::using_noncompass_for_yaw(void) const
{
switch (active_EKF_type()) {
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link]();
#endif
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.using_noncompass_for_yaw();
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return false;
}
// since there is no default case above, this is unreachable
return false;
}

// check if external nav is providing yaw

bool AP_AHRS::using_extnav_for_yaw(void) const
{
switch (active_EKF_type()) {
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return [Link]();
#endif
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.using_extnav_for_yaw();
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return false;
}
// since there is no default case above, this is unreachable
return false;
}

// set and save the alt noise parameter value

void AP_AHRS::set_alt_measurement_noise(float noise)
{
#if HAL_NAVEKF2_AVAILABLE
EKF2.set_baro_alt_noise(noise);
#endif
#if HAL_NAVEKF3_AVAILABLE
EKF3.set_baro_alt_noise(noise);
#endif
}

// check if non-compass sensor is providing yaw. Allows compass pre-arm checks to

be bypassed
const EKFGSF_yaw *AP_AHRS::get_yaw_estimator(void) const
{
switch (active_EKF_type()) {
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return EKF2.get_yawEstimator();
#endif
#if AP_AHRS_DCM_ENABLED
case EKFType::DCM:
#if HAL_NAVEKF3_AVAILABLE
return EKF3.get_yawEstimator();
#else
return nullptr;
#endif
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
 return EKF3.get_yawEstimator();
#endif
#if AP_AHRS_SIM_ENABLED
case EKFType::SIM:
#endif
#if AP_AHRS_EXTERNAL_ENABLED
case EKFType::EXTERNAL:
#endif
return nullptr;
}
// since there is no default case above, this is unreachable
return nullptr;
}

// get current location estimate

bool AP_AHRS::get_location(Location &loc) const
{
loc = [Link];
return state.location_ok;
}

// return a wind estimation vector, in m/s; returns 0,0,0 on failure

bool AP_AHRS::wind_estimate(Vector3f &wind) const
{
wind = state.wind_estimate;
return state.wind_estimate_ok;
}

// return an airspeed estimate if available. return true

// if we have an estimate
bool AP_AHRS::airspeed_estimate(float &airspeed_ret) const
{
airspeed_ret = [Link];
return state.airspeed_ok;
}

// return an airspeed estimate if available. return true

// if we have an estimate
bool AP_AHRS::airspeed_estimate(float &airspeed_ret, AP_AHRS::AirspeedEstimateType
&type) const
{
airspeed_ret = [Link];
type = state.airspeed_estimate_type;
return state.airspeed_ok;
}

// return a true airspeed estimate (navigation airspeed) if

// available. return true if we have an estimate
bool AP_AHRS::airspeed_estimate_true(float &airspeed_ret) const
{
airspeed_ret = state.airspeed_true;
return state.airspeed_true_ok;
}

// return estimate of true airspeed vector in body frame in m/s

// returns false if estimate is unavailable
bool AP_AHRS::airspeed_vector_true(Vector3f &vec) const
{
vec = state.airspeed_vec;
 return state.airspeed_vec_ok;
}

// return the quaternion defining the rotation from NED to XYZ (body) axes
bool AP_AHRS::get_quaternion(Quaternion &quat) const
{
quat = [Link];
return state.quat_ok;
}

// returns the inertial navigation origin in lat/lon/alt

bool AP_AHRS::get_origin(Location &ret) const
{
ret = [Link];
return state.origin_ok;
}

// return a ground velocity in meters/second, North/East/Down

// order. Must only be called if have_inertial_nav() is true
bool AP_AHRS::get_velocity_NED(Vector3f &vec) const
{
vec = state.velocity_NED;
return state.velocity_NED_ok;
}

// return location corresponding to vector relative to the

// vehicle's origin
bool AP_AHRS::get_location_from_origin_offset_NED(Location &loc, const Vector3p
&offset_ned) const
{
if (!get_origin(loc)) {
return false;
}
[Link](offset_ned);

return true;
}

// return location corresponding to vector relative to the

// vehicle's home location
bool AP_AHRS::get_location_from_home_offset_NED(Location &loc, const Vector3p
&offset_ned) const
{
if (!home_is_set()) {
return false;
}
loc = get_home();
[Link](offset_ned);

return true;
}

/*
get EAS to TAS scaling
*/
float AP_AHRS::get_EAS2TAS(void) const
{
if (is_positive(state.EAS2TAS)) {
return state.EAS2TAS;
 }
return 1.0;
}

// get air density / sea level density - decreases as altitude climbs

float AP_AHRS::get_air_density_ratio(void) const
{
const float eas2tas = get_EAS2TAS();
return 1.0 / sq(eas2tas);
}

// singleton instance
AP_AHRS *AP_AHRS::_singleton;

namespace AP {

AP_AHRS &ahrs()
{
return *AP_AHRS::get_singleton();
}

#endif // AP_AHRS_ENABLED