Paul Riseborough
720c2da807
AP_NavEKF3: Rework GPS jamming resiliency
...
Make it user selectable.
Remove potential for a race condition between decisions based on latest data and the EKF fusion processing which operates on a delayed time horizon. This is achieved by preventing data entering the buffer if awaiting checks to pass ensuring that no EKF fusion time horizon processes can use data that hasn't passed checks.
Log the waitingForGpsChecks class variable
2024-06-09 14:25:02 +10:00
Peter Barker
36e385fb22
AP_NavEKF3: set-origin failure comment improved
2024-05-21 09:56:02 +10:00
Randy Mackay
4e2dd7c399
AP_NavEKF3: accept set origin even when using GPS
2024-05-21 09:56:02 +10:00
Iampete1
21df26de75
AP_NavEKF3: use set_and_defualt when changing imu mask
2024-03-26 11:35:36 +11:00
Paul Riseborough
5aa7bd0b7a
AP_NavEKF3: Allow operation with EK3_SRCx_POSZ = 0 (NONE)
2023-08-23 18:25:26 +10:00
Paul Riseborough
e3c0175bb4
AP_NavEKF3: Update EK3_GLITCH_RADIUS metadata
2023-08-16 17:56:43 +10:00
Paul Riseborough
573bd7c7f3
AP_NavEKF3: Provide option to clip velocity and position innovations
2023-08-16 17:56:43 +10:00
Andy Piper
2f97a9855a
AP_NavEKF3: fix docs on ABIAS_P_NSE_DEFAULT
2023-07-14 08:33:05 +09:00
Paul Riseborough
3677cb025d
AP_NavEKF3: Add handlers for external lat lng position set
2023-06-06 15:19:12 +10:00
Paul Riseborough
c91909032f
AP_NavEKF3: Increase delta velocity bias state process noise
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Required due to state variance collapse on ground with some systems using RTK GPS.
2023-05-24 10:31:26 +10:00
Paul Riseborough
b1111e79fe
AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE
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This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
2023-05-24 10:31:26 +10:00
Andrew Tridgell
52cb59e61d
AP_NavEKF3: handle core setup failure
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ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
2023-05-08 16:28:08 +10:00
bugobliterator
deeeb4134c
AP_NavEKF3: use INS_MAX_INSTANCES instead of MAX_EKF_CORES for IMU mask
2023-03-21 10:04:16 +11:00
Peter Barker
35a5a73f52
AP_NavEKF3: avoid using struct Location
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clang reports this could be a problem when compiling under some EABIs. Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
2023-02-04 22:51:54 +11:00
Iampete1
16b1bd8b9a
AP_NavEKF3: pre-arm return failure message for correct core
2023-01-31 13:36:56 +11:00
Peter Barker
b716793a0e
AP_NavEKF3: remove duplicated lines in parameter metadata
2022-12-28 13:21:18 +11:00
Stephen Dade
abcacec25f
AP_NavEKF3: Add support for fixed height optical flow
2022-12-01 08:03:47 +09:00
Andrew Tridgell
92f25150f6
AP_NavEKF3: fixed getLLH alt for local origin height
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this fixes a bug introduced in #21834
this fix in #21834 was correct for getPosD, but should not have been
applied to getLLH
this caused cruise mode in plane to descend/ascend by the difference
between the public and local origins on mode entry
fixes #21984
2022-10-23 11:23:48 +11:00
Andrew Tridgell
17d9018a91
AP_NavEKF3: fixed EKF3 origin alt inconsistency
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always use common origin, and adjust output posD for difference
between public and local lane origin heights
2022-09-30 07:44:42 +10:00
Paul Riseborough
eb0e9230a1
AP_NavEKF3: Add accessor function for airspeed health monitoring
2022-09-26 14:17:53 +10:00
nrt
0c65cd1b47
AP_NavEKF3: added a getter function to infer the source index used by ekf3
2022-08-18 02:05:27 -04:00
Peter Barker
0443c8561b
AP_NavEKF3: stop using GCS_MAVLINK.h in header files
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... by passing through a reference to a link object instead
2022-08-16 09:45:51 +10:00
Tamas Nepusz
8959d35b91
AP_NavEKF3: add EK3_GPS_VACC_MAX as a threshold that decides whether to use GPS as altitude source depending on vAcc
2022-08-03 17:57:05 +10:00
Henry Wurzburg
b7f49db1f7
AP_NavEKF3: Add streaming log verbosity level parameter
2022-08-02 10:21:39 +10:00
Andrew Tridgell
d5670ace3b
AP_NavEKF3: fixed use of configured() vs configured_in_storage()
2022-06-06 13:11:50 +10:00
Andrew Tridgell
74c4f3c9a9
AP_NavEKF3: log set source events
2022-05-31 09:17:37 +10:00
Randy Mackay
61c4643aed
AP_NavEKF3: minor comment fix
2022-05-25 20:05:21 +09:00
Ruffalo-sunghwan
5a4d61e3a4
AP_NavEKF3 : correct comment spelling
2022-05-24 20:27:45 +09:00
Randy Mackay
37e9ce3fb7
AP_NavEKF3: correct wind estimate param descriptions
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EK3_MCOEF becomes EK3_DRAG_MCOEF
EK3_BCOEF_X/Y becomes EK3_DRAG_BCOEF_X/Y
2022-04-13 07:57:35 +09:00
Peter Barker
adf9c21d48
AP_NavEKF3: remove instance id from EK3 external interface
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Removes passing of instance id in interfaces where -1 was the only value
ever passed in
2022-04-06 17:36:05 +10:00
Henry Wurzburg
0f05cb06fa
AP_NavEKF3: update and correct GSF parameter documentation
2022-02-15 10:56:35 +11:00
Randy Mackay
e16a64383f
AP_NavEKF3: getOptFlowSample returns latest correct flow data for use in calibration
2022-01-29 08:26:12 +09:00
Peter Barker
0cb4425eb9
AP_NavEKF3: fix type, 'willbe' -> 'will be'
2021-12-17 09:44:57 +09:00
Andrew Tridgell
468444bef9
AP_NavEKF3: revert compass parameter changes
2021-12-04 16:51:53 +11:00
Josh Henderson
a89f58a775
AP_NavEKF3: allow define for IMU_MASK_DEFAULT
2021-11-30 10:20:54 +11:00
Iampete1
e818decc39
AP_NavEKF3: update compass param discription
2021-11-30 08:14:43 +09:00
Andrew Tridgell
86c481b4b0
AP_NavEKF3: fixed switch to non-zero primary on disarm
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if EK3_PRIMARY is not zero then we were not switching to it when
disarmed
2021-11-07 10:11:52 +11:00
Andrew Tridgell
282209e3e6
AP_NavEKF3: add accessor for GSF yaw estimator
2021-11-01 09:00:27 +11:00
Andy Piper
bc0101e446
AP_NavEKF3: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI
2021-10-26 11:42:12 +11:00
Peter Barker
670663a741
AP_NavEKF3: allow hwdef to override IMU default
2021-10-16 10:26:29 +11:00
Gone4Dirt
0abfde0a7d
AP_NavEKF3: Add APM_BUILD_Heli
2021-09-29 19:55:48 +10:00
Randy Mackay
63e579d738
AP_NavEKF3: add using_extnav_for_yaw
2021-08-31 09:20:17 +10:00
Randy Mackay
0edfd2634f
AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw
2021-08-31 09:20:17 +10:00
TunaLobster
d6a5622fcb
AP_NavEKF3: Remove @RebootRequired: False
2021-08-19 10:00:16 +10:00
Andrew Tridgell
5c86cc6828
AP_NavEKF3: added EK3_PRIMARY parameter
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allows for selection of which IMU to use on startup
2021-08-17 06:42:42 +10:00
Randy Mackay
d961186e0c
AP_NavEKF3: remove unused EK3_GSF_DELAY param
2021-08-06 07:00:46 +09:00
Paul Riseborough
17ead96250
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
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These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
2021-07-22 18:20:45 +10:00
Paul Riseborough
aa6ac4a874
AP_NavEKF3: retune wind process noise for better airspeed fault detection
2021-07-22 18:20:45 +10:00
Paul Riseborough
8fd1e98701
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-22 18:20:45 +10:00
Paul Riseborough
0088b0f3fe
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-22 18:20:45 +10:00