Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

[AP_NavEKF3] Invert PlaneRequiresGPS bit & rename to SuppressGPSFixCheck

This commit is contained in:
Paul Erik Frivold 2024-10-17 12:13:36 +02:00
parent 06fb9f605e
commit 0e86243374
3 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_NavEKF3/AP_NavEKF3.cpp
View File

@ -738,10 +738,10 @@ const AP_Param::GroupInfo NavEKF3::var_info2[] = {
// @Param: OPTIONS
// @DisplayName: Optional EKF behaviour
// @Description: This controls optional EKF behaviour. Setting JammingExpected will change the EKF behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad GPS measurements from getting fused. If PlaneRequiresGPS is true, EKF3 will not initialize unless the preferred GPS has at least GPS_OK_FIX_3D.
// @Bitmask: 0:JammingExpected,1:PlaneRequiresGPS
// @Description: This controls optional EKF behaviour. Setting JammingExpected will change the EKF behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad GPS measurements from getting fused. If SuppressGPSFixCheck is true, EKF3 will initialize despite the preferred GPS not having at least GPS_OK_FIX_3D (this check only applies to forward-flying non-ground vehicles - i.e. Plane in non-VTOL mode).
// @Bitmask: 0:JammingExpected,1:SuppressGPSFixCheck
// @User: Advanced
AP_GROUPINFO("OPTIONS", 11, NavEKF3, _options, 2),
AP_GROUPINFO("OPTIONS", 11, NavEKF3, _options, 0),
AP_GROUPEND
};

2
libraries/AP_NavEKF3/AP_NavEKF3.h
View File

@ -455,7 +455,7 @@ private:
// enum for processing options
enum class Options {
JammingExpected = (1<<0),
PlaneRequiresGPS = (1<<1),
SuppressGPSFixCheck = (1<<1),
};
// Possible values for _flowUse

5
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
View File

@ -472,8 +472,9 @@ bool NavEKF3_core::InitialiseFilterBootstrap(void)
// update sensor selection (for affinity)
update_sensor_selection();
// If PlaneRequiresGPS bit in EK3_OPTIONS is set, then don't initialise if we are a plane and don't have GPS lock
if ((frontend->_options & (int32_t)NavEKF3::Options::PlaneRequiresGPS) &&
// Unless SuppressGPSFixCheck bit in EK3_OPTIONS is set, don't initialise if we are a
// non-sideslip vehicle (most likely a non-VTOL plane and don't have GPS lock.
if (!(frontend->_options & (int32_t)NavEKF3::Options::SuppressGPSFixCheck) &&
assume_zero_sideslip() && dal.gps().status(preferred_gps) < AP_DAL_GPS::GPS_OK_FIX_3D) {
dal.snprintf(prearm_fail_string,
sizeof(prearm_fail_string),