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737 Commits

Author SHA1 Message Date
Andrew Tridgell
224792b8b8 AP_NavEKF2: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell
90a8c5cb1a AP_NavEKF2: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82 AP_NavEKF2: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Peter Barker
84c92b717f AP_NavEKF2: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Randy Mackay
fccc1fcb72 AP_NavEKF2: minor comment fix 2020-10-28 12:17:22 +09:00
Andrew Tridgell
dc32f7a12f AP_NavEKF2: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Peter Barker
0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker
53305ba2a4 AP_NavEKF2: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker
312cf725aa AP_NavEKF2: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker
c90265f94d AP_NavEKF2: fix includes 2020-10-20 11:40:54 +11:00
Peter Barker
80f9ef7ed1 AP_NavEKF2: remove unused innovationIncrement and lastInnovation 2020-10-20 11:24:34 +11:00
Randy Mackay
b2d4622320 AP_NavEKF2: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Andrew Tridgell
35e95d3328 AP_NavEKF2: reset body mag variances at key points 
reset on sensor switch or when changing to 3D fusion
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
534e63e2fa AP_NavEKF2: fixed init of earth state mag variances 
we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
d6dcbda0d3 AP_NavEKF2: removed duplicate compass switch check 
left over from last set of changes
 2020-09-20 09:25:57 +10:00
Andrew Tridgell
067001bd61 AP_NavEKF2: take into account alignment when comparing cores 
ensure we don't switch to a lane that does not have yaw or tilt
alignment from a lane that is aligned
 2020-09-14 20:29:04 +10:00
Paul Riseborough
da7bb44a61 AP_NavEKF2: Consolidate magnetometer timeout checks 2020-09-08 11:01:14 +10:00
Andrew Tridgell
6b9e595602 AP_NavEKF2: fixed handling of failed compass 
when a compass goes unhealthy due to sensor failure we should try
another compass after 10s if another compass is available
 2020-09-08 11:01:14 +10:00
Andrew Tridgell
6ee527d3e0 AP_NavEKF2: fixed segfault when IMU mask covers more IMUs than GSF mask 2020-08-28 10:17:00 +10:00
Harshit Kumar Sankhla
56cbcb42ee AP_NavEKF2: Add core relative error and errorscore logging in NKF3 packet 
TODO : Port lane switching logic from EKF3 to make use of these terms
Since both share the same NKF3 log structure, needed to do this.
Just log 0 as of.
 2020-08-27 20:20:51 +10:00
Andrew Tridgell
83e5639225 AP_NavEKF2: apply min GPS accuracy at measurement point 
this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
 2020-08-21 07:40:13 +10:00
Peter Barker
032b7c81e5 AP_NavEKF2: correct includes 2020-08-07 19:20:07 +10:00
Andy Piper
e39e24bd18 AP_NavEKF2: INS get_sample_rate() renamed to get_loop_rate_hz() 2020-07-10 16:45:29 +10:00
Paul Riseborough
25cba50f10 AP_NavEKF3: Fix EK2_MAG_CAL parameter description 2020-07-07 15:33:58 +10:00
Paul Riseborough
ea4589ea94 AP_NavEKF2: Reset yaw estimator bias states at start of flight 
Enables yaw bias to be learned when sitting stationary on ground.
 2020-07-07 15:33:58 +10:00
Paul Riseborough
b6d9b6f3c7 AP_NavEKF2: Update documentation for non-compass use case 
Instruction now explicitly specifies that all COMPASS_USE parameters must be set to 0 and COMPASS_ENABLE must be set to 1
 2020-07-07 15:33:58 +10:00
Paul Riseborough
ccaa4d6aa9 AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data 2020-07-07 15:33:58 +10:00
Peter Barker
081c0bbfe0 AP_NavEKF2: correct comments on getFilterFaults and getFilterTimeouts methods 2020-07-07 10:50:41 +10:00
Paul Riseborough
9507a2e157 AP_NavEKF2: Fix parameter description 2020-06-24 21:16:50 +09:00
Randy Mackay
a8c2be26ba AP_NavEKF2: remove unused terrainHgtStableSet_ms 2020-06-24 21:16:50 +09:00
Paul Riseborough
502b96f49c AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
83dc46d539 AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data 2020-06-24 21:16:50 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
280d33d030 AP_NavEKF2: reduce duplicated code. 2020-06-24 21:16:50 +09:00
Paul Riseborough
11a0fef3d0 AP_NavEKF2: Fix indent 2020-06-24 21:16:50 +09:00
Paul Riseborough
fc18ee91df AP_NavEKF2: Add missing fallback to baro for range beacon use case 2020-06-24 21:16:50 +09:00
Paul Riseborough
d118c8fc38 AP_NavEKF2: Fix range aid switching logic 
Clarifies use of EK2_RANGE_USE_HGT and EK2_ALT_SOURCE parameters to control range finder use.
Setting EK2_RNG_USE_HGT to a positive number to enable automatic switching between the primary height source (baro or GPS) and range finder should be disabled if any primary height source other than Baro or GPS is selected via the EK2_ALT_SOURCE parameter.
 2020-06-24 21:16:50 +09:00
Pierre Kancir
9bbd2b19c2 AP_NavEKF2: add --debug-ekf to debug the EKF 2020-06-20 19:59:05 +10:00
Randy Mackay
989ffb79cd AP_NavEKF2: minor format fix 2020-06-19 13:46:52 +09:00
Randy Mackay
966d59a26d AP_NavEKF2: protect against ExtNav being NaN 2020-06-19 13:46:52 +09:00
chobits
f5f403947c AP_NavEKF2: clarify POSNE_M_NSE desc 2020-06-09 20:44:57 +09:00
chobits
e64c92b322 AP_NavEKF2: use err info from ext nav interface 2020-06-09 13:31:21 +09:00
Randy Mackay
6c10655059 AP_NavEKF2: accept extnav at up to 50hz 2020-06-09 09:42:14 +10:00
Peter Barker
b02d9abd32 AP_NavEKF2: avoid compiler warnings from -Wclass-memaccess 
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp: In member function ‘void NavEKF2_core::InitialiseVariables()’:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:343:50: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  343 |     memset(&extNavVelNew, 0, sizeof(extNavVelNew));
      |                                                  ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:344:58: warning: ‘void* memset(void*, int, size_t)’ clearing an object of non-trivial type ‘struct NavEKF2_core::ext_nav_vel_elements’; use assignment or value-initialization instead [-Wclass-memaccess]
  344 |     memset(&extNavVelDelayed, 0, sizeof(extNavVelDelayed));
      |                                                          ^
In file included from ../../libraries/AP_NavEKF2/AP_NavEKF2_core.cpp:4:
../../libraries/AP_NavEKF2/AP_NavEKF2_core.h:518:12: note: ‘struct NavEKF2_core::ext_nav_vel_elements’ declared here
  518 |     struct ext_nav_vel_elements {
      |            ^~~~~~~~~~~~~~~~~~~~
 2020-06-05 08:42:45 +10:00
chobits
dee095b4a4 AP_NavEKF2: support VISION_SPEED_ESTIMATE 2020-06-01 17:51:24 +09:00
Peter Barker
19dc07250d AP_NavEKF2: clarify yaw reset error message 
The current wording can be taken to indicate that the mag sensors
stopped, causing this issue.
 2020-05-26 10:05:35 +10:00
Paul Riseborough
af19fea268 AP_NavEKF2: Fix 3-axis mag fusion per axis error handling 
Ensure that if fusion checks for an axis fails, fusion will not be perfomred for all axes.
 2020-05-20 15:09:32 +10:00
Andy Piper
9f02b1b1a8 AP_NavEKF2: fix typo in comment 
Signed-off-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
 2020-05-20 07:29:31 +09:00
Randy Mackay
f26a2a47b4 AP_NavEKF2: writeExtNavData accepts delay 2020-05-15 10:07:52 +09:00
Paul Riseborough
c94de61e29 AP_NavEKF2: Don't perform emergency yaw reset unless commanded externally 
This limits the use of the reset to situations where it is a last ditch resort before a lane switch and failsafe.
This will limit false positives for general deployment, but still provide protection from fly-aways at the cost of some increase in reaction time.
 2020-05-14 10:40:48 +10:00
chobits
a7aa43f5d5 AP_NavEKF2: ext nav will not reset yaw if compass is used 2020-05-14 08:04:55 +09:00
Randy Mackay
b95bc9076b AP_NavEKF2: fix getLLH when no GPS 2020-05-10 15:35:55 +10:00
Andrew Tridgell
c9ffe8dcea AP_NavEKF2: use set_enable() to set enable flag 2020-04-29 07:36:55 +10:00
Paul Riseborough
e1f27054d5 AP_NavEKF2: Don't use geomag data when user specifies declination 2020-04-28 11:42:31 +09:00
Randy Mackay
90db3d6317 AP_NavEKF2: minor comment fix 2020-04-27 19:15:43 +09:00
Randy Mackay
2919491298 AP_NavEKF2: getLLH fix when no GPS available 2020-04-24 20:29:18 +09:00
Randy Mackay
6e93f54cff AP_NavEKF2: handle external nav position resets 2020-04-24 18:16:52 +09:00
Randy Mackay
990313371d AP_NavEKF2: minor comment fixes 2020-04-24 18:16:52 +09:00
Randy Mackay
43c9e13372 AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV 
presumably EV stands for ExternalVision but we normally refer to this source as External Nav
 2020-04-24 18:16:52 +09:00
Randy Mackay
014c889ceb AP_NavEKF2: setAidingMode uses lastExtNavPassTime_ms 2020-04-24 18:16:52 +09:00
Randy Mackay
3b20623a31 AP_NavEKF2: remove unused ext nav elements 2020-04-24 18:16:52 +09:00
Peter Barker
7dfc285f2a AP_NavEKF2: remove incorrect units from yaw esimtator LoggerMessage 2020-04-24 18:08:14 +10:00
Andrew Tridgell
d8c533e7ab AP_NavEKF2: added missing log documentation for field C 2020-04-24 09:43:23 +10:00
Paul Riseborough
8f1b732d79 AP_NavEKF2: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough
49e4c799d3 AP_NavEKF2: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Randy Mackay
4d7e7a960a AP_NavEKF2: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
0fb233ed4b AP_NavEKF2: minor comment fixes 2020-04-24 09:43:23 +10:00
Randy Mackay
a9cbd5aa29 AP_NavEKF2: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay
d61c517e76 AP_NavEKF2: minor format fix 2020-04-24 09:43:23 +10:00
Randy Mackay
91ef87064a AP_NavEKF2: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough
abc821ad36 AP_NavEKF2: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to date yaw estimate using IMU prediction before it may be required by SelectMagFusion() whilst still doing the velocity update after GPS data haw been pulled from the buffer by SelectVelPosFusion()
 2020-04-24 09:43:23 +10:00
Andrew Tridgell
c83e2d7c0e AP_NavEKF2: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell
6c3889b04f AP_NavEKF2: fixed typos 2020-04-24 09:43:23 +10:00
Andrew Tridgell
3edbe81b1e AP_NavEKF2: removed 2nd set of imuSampleTime_ms 2020-04-24 09:43:23 +10:00
Paul Riseborough
6952d83f00 AP_NavEKF2: Fix casting build error 2020-04-24 09:43:23 +10:00
Paul Riseborough
0d965d2a1c AP_NavEKF2: Fix timer wrapping bugs 
Also replaces tab characters
 2020-04-24 09:43:23 +10:00
Paul Riseborough
de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Randy Mackay
35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay
85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker
f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay
8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay
fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Randy Mackay
9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell
c9755cf9e6 AP_NavEKF2: make mag variance reporting consistent 
logged scaled variance should match the value used in MAVLink
EKF_STATUS_REPORT
 2020-04-06 17:30:29 +10:00
Peter Barker
903d81c263 AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it 2020-03-13 08:26:18 +11:00
Andrew Tridgell
9030590a88 AP_NavEKF2: fixed use of antenna position when switching GPS primary 
when GPS primary switches we were using a position which had not been
corrected for antenna offset. This was used for calculating the reset
for sensor change.

This fixes that (trivial fix) and also fixes a similar issue on
position reset
 2020-02-19 18:12:54 +11:00
Siddharth Purohit
4cca1c307c AP_NavEKF2: Primary compass is always at serial number 0 2020-02-19 13:59:53 +09:00
Peter Hall
e0eeb4f863 AP_NavEKF2: add initalized flag and change to uint32_t 2020-02-19 06:45:07 +11:00
chobits
a54f24c8c0 AP_NavEKF2: switch to optflow if gps is jammed 2020-02-04 10:13:57 +09:00
Peter Barker
da3d3cc21b AP_NavEKF: stop taking ahrs in constructor 2020-01-21 11:53:18 +11:00
Peter Hall
2970334c0d AP_NavEKF2: get_time_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker
524647d221 AP_NavEKF2: use instance number when logging rather than multiple message IDs 2019-12-17 12:22:07 +11:00
Peter Barker
060c851709 AP_NavEKF2: make send_status_report const 2019-12-11 07:54:41 +09:00
Peter Barker
369292f7f3 AP_NavEKF2: stop relying on the presence of a RangeFinder 2019-12-11 08:09:01 +11:00
Peter Barker
239df941e5 AP_NavEKF2: use instance # when logging EKF core timings 2019-12-06 12:52:03 +09:00
Andrew Tridgell
fce4d6952f AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set 2019-12-03 20:48:23 +11:00
Mark Whitehorn
5f6b3a1f5b AP_NavEKF2: clean up init failure handling 
only attempt to allocate memory once
 2019-11-26 11:59:10 +11:00
Peter Barker
99689f65f8 AP_NavEKF2: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Peter Barker
9735684184 AP_NavEKF2: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Mark Whitehorn
23ee9eef5f AP_NavEKF2: fail prearm on any core setup failure 2019-11-05 11:23:54 +11:00
Mark Whitehorn
489ae83604 AP_NavEKF2: handle core setup failures 2019-11-05 11:23:54 +11:00
Mark Whitehorn
7c6630e216 AP_NavEKF2: EKF2 prefix for prearm failures and camelCase 2019-11-05 11:23:54 +11:00
Mark Whitehorn
95ea6ad807 AP_NavEKF2: provide reasons for init failures 2019-11-05 11:23:54 +11:00
Randy Mackay
cc5facf6d2 AP_NavEKF2: initialise pre-arm failure message 2019-10-31 09:51:27 +08:00
Mark Whitehorn
6e73feca5c AP_NavEKF2: add prearm failure message for null core pointer 2019-10-29 11:59:29 +08:00
Randy Mackay
e32a8556b2 AP_NavEKF2: suppress ekf fail-to-set-origin if core disabled 2019-10-22 07:15:48 +08:00
Randy Mackay
e2d3afaaa7 AP_NavEKF2: reduce EK2_HRT_FILT max to 30 2019-10-18 11:15:25 +09:00
Paul Riseborough
c26c6fd078 AP_NavEKF2: Add missing vertical position derivative calculation 
Use a third order order complementary filter to estimate the rate of change of vertical position output.
 2019-10-18 11:15:25 +09:00
Andrew Tridgell
cbe34320b5 AP_NavEKF2: fixed build 
broken by recent common variable change
 2019-10-01 17:35:26 +10:00
Andrew Tridgell
f7e138bddd AP_NavEKF2: use parent class for intermediate static variables 
this makes the code faster as well as using less memory when both EK2
and EK3 are enabled
 2019-10-01 15:39:03 +10:00
Andrew Tridgell
8dd2119b14 AP_NavEKF2: make it easy to do EK2 timing tests 
for future benchmarking
 2019-09-28 08:57:26 +10:00
Andrew Tridgell
163efd0df5 AP_NavEKF2: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Peter Barker
952d4d2cbc AP_NavEKF2: initialise Kfusion stack variable to fix compilation 
This fixes the compilation, as previous patches have done.
 2019-09-25 12:54:55 +10:00
Andrew Tridgell
d40d812ea4 AP_NavEKF2: fixed build with g++ 9.1 
this is a false positive, but the cost of clearing this array is low,
and it saves a much more complex fix
 2019-09-24 14:59:17 +10:00
Andrew Tridgell
9226899c6f AP_NavEKF2: added comment (review request) 2019-09-24 12:51:54 +10:00
Andrew Tridgell
255981c60c AP_NavEKF2: moved some of the intermediate vars to the stack 
this keeps stack frames below 1k, while giving faster access to the
variables and saving more memory
 2019-09-24 12:51:54 +10:00
Andrew Tridgell
96c6544997 AP_NavEKF3: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2019-09-24 12:51:54 +10:00
Andrew Tridgell
0041874826 AP_NavEKF2: moved intermediate variables to common memory 
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.

This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
 2019-09-24 12:51:54 +10:00
Andrew Tridgell
1d47f9186e AP_NavEKF2: fixed use of old irqsave() API 2019-09-21 15:36:47 +10:00
Peter Barker
3619856fc9 AP_NavEKF2: correct return of empty prearm string 2019-09-19 08:47:47 +09:00
Randy Mackay
94a52b3525 EKF2: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder 2019-09-10 18:44:52 +10:00
Michael du Breuil
a4d10b2e86 AP_NavEKF2: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +10:00
Peter Barker
c8fac758ee AP_NavEKF2: use timing logging from AP_NavEKF 2019-09-03 09:28:37 +10:00
Andrew Tridgell
414d3eb670 AP_NavEKF2: don't fuse GPS when EK2_GPS_TYPE=3 
when using a vision position system, the user may have vision derived
GPS data coming in using GPS_INPUT msgs. We should not fuse these when
EK2_GPS_TYPE=3 as we end up fusing both vision data and GPS data,
which does not work with the current EK2 code

This change makes it possible to run EK2 and EK3 in parallel in a
Vicon, wityh EK2 using VISION_POSITION_ESTIMATE data and EK3 using
GPS_INPUT (with yaw) data.
 2019-08-26 12:27:31 +10:00
hoangthien94
fc9ff2b09a AP_NavEKF2: add method to check if ext nav is used for yaw 2019-08-03 08:44:11 +09:00
Andrew Tridgell
098701ec79 AP_NavEKF2: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-07-30 08:23:21 +10:00
Andrew Tridgell
e7163afe06 AP_NavEKF2: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
c57b25b4c9 AP_NavEKF2: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
a01faa2f00 AP_NavEKF2: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
742ae0b750 AP_NavEKF2: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-07-29 10:08:22 +10:00
Andrew Tridgell
5db41147ed AP_NavEKF2: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-07-29 10:08:22 +10:00
Siddharth Purohit
1527a5b97c AP_NavEKF2: do logging for 3rd EKF core 2019-07-23 12:34:38 +10:00
Andrew Tridgell
2427440e13 AP_NavEKF2: origin handling fixes from Francisco 2019-07-11 06:40:55 +10:00
Andrew Tridgell
e8d9a1fae9 AP_NavEKF2: don't allow height datum reset when not on ground 2019-07-07 19:20:32 +10:00
Andrew Tridgell
f5fd38aef2 AP_NavEKF2: set terrainState to zero on height datum reset 2019-07-07 19:20:32 +10:00
Andrew Tridgell
9372073f63 AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
20ebb2500b AP_NavEKF2: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-07 19:20:32 +10:00
Andrew Tridgell
ddef40fa3d AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection 2019-07-07 19:03:01 +10:00
Andrew Tridgell
1c4c5a6850 AP_NavEKF2: learn gyro biases for inactive gyros 
this allows us to learn the gyro biases each lane would need if it had
to switch to another gyro due to a sensor failure. This prevents a
sudden change in gyro bias on IMU failure
 2019-07-07 19:03:01 +10:00
Peter Barker
6a0a466f42 AP_NavEKF2: factor out and logging functions, reuse for 2nd core 2019-07-06 19:05:51 +10:00
Peter Barker
5175d23cc1 AP_NavEKF2: move logging in from AP_Logger 2019-07-06 19:05:51 +10:00
Andrew Tridgell
567c902e75 AP_NavEKF2: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 06:48:23 +10:00
Peter Barker
82df167ad4 AP_NavEKF2: use beacon singleton 2019-07-01 07:20:58 +09:00
Michael du Breuil
f04e47fc17 AP_NavEKF2: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil
892b687c09 AP_NavEKF2: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Andrew Tridgell
3073c4da7a AP_NavEKF2: added checkLaneSwitch() 
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
 2019-06-12 09:52:20 +10:00
Andrew Tridgell
df4fc0fff0 AP_NavEKF2: default EK2_MAG_EF_LIM to 50 
this was supposed to be part of the original PR (agreed with Paul to
enable by default)
 2019-06-08 20:24:58 +10:00
Peter Barker
11f31c2851 AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Andrew Tridgell
e9ed3540f1 AP_NavEKF2: constrain field by table after fusion 
this should make for faster convergence
 2019-06-03 12:21:29 +10:00
Andrew Tridgell
3835d2613e AP_NavEKF2: added EK2_MAG_EF_LIM parameter 
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
 2019-06-03 12:21:29 +10:00