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73 Commits

Author SHA1 Message Date
Andrew Tridgell 04944fa6ce AP_NavEKF3: review fixes 
thanks Paul!
 2019-07-29 10:08:22 +10:00
Andrew Tridgell a3411efdb5 AP_NavEKF3: 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 3818d8ecda AP_NavEKF3: 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
priseborough 0c4f92d4c1 AP_NavEKF3: Add control logic to use external yaw sensor 2019-07-13 11:05:57 +10:00
priseborough 87c7649d09 AP_NavEKF3: Add interface for yaw angle measurements 2019-07-13 11:05:57 +10:00
Andrew Tridgell 5151416080 AP_NavEKF3: 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
Michael du Breuil be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Andrew Tridgell 60831c2878 AP_NavEKF3: 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 e4f6ffe719 AP_NavEKF3: fixed bug in EKF lane selection 
this fixes an issue in selecting the best lane to change to when we
have 3 or more EKF cores. The bug is that if the current lane is
unhealthy it would always choose the last healthy lane instead of
choosing the lane with the lowest score
 2019-05-07 06:59:50 +10:00
Michael du Breuil fe3b29a088 AP_NavEKF3: Allow checking all cores for health 2019-04-09 10:53:25 +10:00
Paul Riseborough 0d3e1a7d23 AP_NavEKF3: flow use parameter improvements 2019-04-02 10:51:12 +11:00
Paul Riseborough d3e9281846 AP_NavEKF3: Update default plane optical flow param values 
Reduce time required to form estimate of terrain offset
 2019-04-02 10:51:12 +11:00
Paul Riseborough 35c82ef67f AP_NavEKF3: Improve optical flow height estimation 2019-04-02 10:51:12 +11:00
Paul Riseborough b848e231c7 AP_NavEKF3: Add parameter to control how optical flow data is used 2019-04-02 10:51:12 +11:00
Mark Whitehorn 3c432cf25c AP_NavEKF3: add getQuaternionBodyToNED 2019-03-29 10:58:00 +11:00
Tom Pittenger 17ee20af3f AP_NavEKF3: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Arjun Vinod f382a657bd AP_NavEKF3: fixed typos 2019-02-26 08:33:39 +11:00
Tom Pittenger 55377b234f AP_NavEKF3: remove HAL_CPU_CLASS_150 check, 150 is already a minimum requirement 2019-02-17 13:00:00 -08:00
Tom Pittenger 8a6a39b590 AP_NavEKF3: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Randy Mackay c616587b86 AP_NavEKF: increase ABIAS_P_NSE param doc range to 0.005 2018-12-27 14:09:53 +09:00
Michael du Breuil 25ef5fed82 AP_NavEKF3: Suppress clearing non-trival type warning 2018-10-30 16:17:03 -07:00
Peter Barker 281fad53c2 AP_NavEKF3: always set EKF control limits, even with no cores 2018-10-09 10:47:38 +11:00
Peter Barker be9235a581 AP_NavEKF3: fix writeOptFlowMeas signature 
const some of the vectors, stop taking references to scalars that aren't
being changed
 2018-09-11 09:03:22 +10:00
Randy Mackay 3d72022f6e EKF: modify ALT_SOURCE param description 
We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it
 2018-07-18 08:31:09 +09:00
Peter Barker 6bf5ffdb6d AP_NavEKF3: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Peter Barker 901ba0034c AP_NavEKF3: do not pass GPS into Log_Write_GPS; it uses singleton 2018-04-18 13:50:55 +09:00
Peter Barker a0d874baa2 AP_NavEKF3: const accessors 2018-04-07 09:56:18 +09:00
Peter Barker 6791808ac6 AP_NavEKF3: remove unneeded initialisations 
AP_NavEKF3 should never be allocated in uninitialised memory
 2018-04-07 09:54:21 +09:00
Peter Barker d38ff1dd2c AP_NavEKF3: initialise EKF3 constants in declaration not constructor 2018-04-07 09:54:21 +09:00
Peter Barker 55b8a2288e AP_NavEKF3: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 7b1a906c4e AP_NavEKF3: use baro singleton 2018-03-08 21:20:05 -08:00
bugobliterator ea2a880d8a AP_NavEKF3: allocate from MEM_FAST region 2018-01-15 11:46:02 +11:00
Peter Barker 5dc714bf5f AP_NavEKF3: use GPS singleton 2017-12-27 00:58:02 +00:00
priseborough 2310cb6d19 AP_NavEKF3: Enable external control over use of GPS vertical velocity 2017-08-10 19:49:45 +10:00
priseborough c7f6d52065 AP_NavEKF3: Add wheel encoder odometry 
Uses the existing body frame odometry observation model.
Handles each sensored wheel as a separate sensor.
 2017-07-27 16:52:27 +09:00
priseborough 593437ca95 AP_NavEKF3: Add tuning of visual odometry observation error 
Also adjust default values based on replay analysis.
 2017-07-27 16:52:25 +09:00
priseborough 0827b13feb AP_NavEKF3: Fix default behaviour for height origin corrections 
Previous default was to apply in-flight height origin changes to local position instead of to reported origin height. This caused problems with copters that took off before getting GPS lock.
 2017-07-17 02:22:02 +01:00
Peter Barker 93e09c51d3 AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 6a01c65197 AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC) 2017-06-16 12:05:20 +01:00
priseborough 49ec2b4032 AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK 
Turn off by default.
Update parameter description.
 2017-06-14 12:44:41 +01:00
priseborough 3ae7998f51 AP_NavEKF3: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 2b97d0f5c9 AP_NavEKF3: Add public accessor for state variances 2017-06-14 12:44:41 +01:00
priseborough 9da3caca47 AP_NavEKF3: Improve GPS reference height estimator 
Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
 2017-06-14 12:44:41 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas d3a57b5965 AP_NavEKF3: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Andrew Tridgell a04aff7a7d AP_NavEKF3: added inter-EKF scheduling cooperation 
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
 2017-05-01 14:24:55 +10:00
Andrew Tridgell adb281cd4e AP_NavEKF3: added timing statistics logging 2017-04-28 17:19:39 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
priseborough fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00