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106 Commits

Author SHA1 Message Date
Paul Riseborough e868b9dc35 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.
 2020-02-05 10:16:44 +11:00
Andrew Tridgell da7dc71195 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
 2020-02-05 10:10:20 +11:00
Andrew Tridgell a48d97c307 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
 2020-02-05 10:08:10 +11:00
Michael du Breuil a4d10b2e86 AP_NavEKF2: Allow the GPS to be responsible for logging 2019-09-10 09:09:17 +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 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
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
Michael du Breuil f04e47fc17 AP_NavEKF2: Reduce scope of AP_Baro.h 2019-06-27 14:56:21 +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 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
Michael du Breuil 7f639c1bb2 AP_NavEKF2: Allow checking all cores for failure 2019-04-09 10:53:25 +10:00
Paul Riseborough 8038efc152 AP_NavEKF2: Flow use parameter updates 2019-04-02 10:51:12 +11:00
Paul Riseborough a40208ebd4 AP_NavEKF2: Improve optical flow height estimation 
Updated derivation using sequential fusion of Y and X axis data.
 2019-04-02 10:51:12 +11:00
Paul Riseborough 2b8b53d6b2 AP_NavEKF2: Add parameter to control how optical flow flow data is used 2019-04-02 10:51:12 +11:00
Mark Whitehorn 6b70181837 AP_NavEKF2: add getQuaternionBodyToNED 2019-03-29 10:58:00 +11:00
Arjun Vinod a0e7c37f8c AP_NavEKF2: fixed typos 2019-02-22 10:21:35 +11:00
chobits 3766ee1b60 AP_NavEKF2: add external navigation data lag 2019-01-31 08:30:22 +09:00
Peter Barker d8aa8d2b71 AP_NavEKF2: 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
Michael du Breuil ee9cc28fda AP_NavEKF2: Utilize the GPS drivers estimate for lag 2018-08-07 09:55:26 +10:00
Peter Barker 81044760c7 AP_NavEKF2: const accessors 2018-04-04 12:20:36 +01:00
Paul Riseborough c680b931dc AP_NavEKF2: Enable fusion of external nav position data 2018-03-27 20:28:42 +09:00
Peter Barker 5ab89324b2 AP_NavEKF2: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 5b7d5a9757 AP_NavEKF2: mark getEulerAngles as const 2018-03-07 12:34:39 +00:00
Peter Barker dbe860152d AP_NavEKF2: tight types on constants 
This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
 2018-03-01 20:27:19 +09:00
Peter Barker 3a99b2bce1 AP_NavEKF: move initialisation of EKF constants into header file 
Various comments where getting out of sync with one-another, and
having everything in one place lets you match values against types.
 2018-03-01 20:27:19 +09:00
Andrew Tridgell 4d4e66d825 AP_NavEKF2: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Andrew Tridgell 4019a167a9 AP_NavEKF2: fixed inverted function setInhibitGpsVertVelUse() 2017-11-29 09:47:14 +09:00
Lucas De Marchi 3c04f4e4d1 AP_NavEKF2: add static create method 2017-09-26 03:01:21 +01:00
priseborough f2f3067326 AP_NavEKF2: Add interface to control GPS vertical velocity use 2017-08-10 19:49:45 +10:00
priseborough 77d21f72d4 AP_NavEKF2: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 36e7dfb5f6 AP_NavEKF2: 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 ce37517268 AP_NavEKF2: Improve comments, typos 2017-05-03 08:44:49 +09:00
Andrew Tridgell 2de8777669 AP_NavEKF2: 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 ee5c032f27 AP_NavEKF2: added recording of timing statistics 2017-04-28 17:19:39 +10:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
Andrew Tridgell 9f3c2cb704 AP_NavEKF2: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
priseborough 44fa82d58c AP_NavEKF2: Reference correct derivation 2017-03-13 11:31:51 +11:00
Jacob Walser e7a34b0fb3 AP_NavEKF2: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
priseborough 1a7b5538e5 AP_NavEKF2: Enable simple heading fusion to be set for specific cores 2017-02-15 19:17:53 +00:00
priseborough fe69d9a0ea AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
priseborough 76106889d5 AP_NavEKF2: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-13 01:18:28 +00:00
priseborough 14a0155f5e AP_NavEKF2: Allow threshold speed for range finder use to be adjusted 2016-12-09 21:17:28 +00:00
Randy Mackay 66a9093cd0 AP_NavEKF2: getRangeBeaconDebug returns false on failure to get beacon data 2016-11-30 17:56:51 +09:00
priseborough ef03a85cd3 AP_NavEKF2: add range beacon interface and fusion method 2016-11-30 17:56:43 +09:00
Randy Mackay e9ea06bd10 AP_NavEKF2: minor comment fix 2016-11-24 19:58:03 +09:00
priseborough 0df45703f1 AP_NavEKF2: Fix errors in position reset delta publishing 2016-11-24 19:57:47 +09:00
priseborough f6021c959d AP_NavEKF2: capture and publish vertical position reset deltas 
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
 2016-11-24 19:57:45 +09:00
Andrew Tridgell 82365f8670 AP_NavEKF2: save some memory in the position offsets in EKF2 
we don't need to copy that vector3f for every sample. A uint8_t does
the job
 2016-10-27 17:09:06 +11:00
priseborough fd905c23e1 AP_NavEKF2: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00