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156 Commits

Author SHA1 Message Date
Paul Riseborough 7370cd9f00 AP_NavEKF3: Fix typo and update parameter description 2021-02-22 13:21:03 +09:00
Randy Mackay f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Peter Barker 3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker b3bacdd33c AP_NavEKF3: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker 5ad0ac6727 AP_NavEKF3: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Randy Mackay 4492e5024c AP_NavEKF3: enable ekf3 by default 2021-01-16 08:24:23 +09:00
Randy Mackay 27c998ad94 AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS 2021-01-05 10:58:06 +11:00
Andrew Tridgell e747edbcf2 AP_NavEKF3: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Randy Mackay 39be85cef4 AP_NavEKF3: integrate Source loss of init 2020-12-21 16:56:38 +09:00
Dr.-Ing. Amilcar do Carmo Lucas f77ab30f7a Revert "AP_NavEKF3: Remove unsupported parameter unit descriptions" 
This reverts commit 4f4a2f446d.
Makes more sense to add those to the list of supported units
 2020-12-15 18:22:36 +11:00
Paul Riseborough ed17d8e48f AP_NavEKF3: Improve parameter display names 2020-12-11 15:21:41 +11:00
Andrew Tridgell b86c014400 AP_NavEKF3: rename drag parameters to start with EK3_DRAG_ 2020-12-11 15:21:41 +11:00
Andrew Tridgell be4d10a95e AP_NavEKF3: rework parameter handling 
and fixed indentation
 2020-12-11 15:21:41 +11:00
Paul Riseborough 0d2c235027 AP_NavEKF3: Fix #define typo 2020-12-11 15:21:41 +11:00
Paul Riseborough ab05e8ed4a AP_NavEKF3: Update param descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough 4f4a2f446d AP_NavEKF3: Remove unsupported parameter unit descriptions 2020-12-11 15:21:41 +11:00
Paul Riseborough c9ab4b18b0 AP_NavEKF3: Add multicopter wind estimation 2020-12-11 15:21:41 +11:00
Andrew Tridgell 80f7906744 AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Randy Mackay 4cd1c3cfde AP_NavEKF3: param conversion loses config_error 
config_error should only be run as part of setup because it may never return
 2020-11-27 08:20:07 +09:00
Randy Mackay adfc92523b AP_NavEKF3: add configuredToUseGPSForPosXY 2020-11-25 21:00:07 +11:00
Andrew Tridgell 7eea13f86f AP_NavEKF3: fixed build of standalone replay link test 
parameter conversion not needed for replay
 2020-11-24 20:46:37 +11:00
Peter Barker e1a033b296 AP_NavEKF3: make logging a core concern 
Also dissolve some methods only used for logging
 2020-11-22 20:47:29 +11:00
Peter Barker 914629351f AP_NavEKF3: use scalar rather than array for state-prediction-allowed 
EKF2 needs this for choosing alternate cores.  EKF3 does not.
 2020-11-22 14:09:48 +11:00
Randy Mackay d1983b0b77 AP_NavEKF3: fixup source param conversion 
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
 2020-11-20 16:43:44 +09:00
Randy Mackay 04e3623620 AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks 
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
 2020-11-20 16:43:44 +09:00
Randy Mackay 8895d20c45 AP_NavEKF3: rename setPosVelYawSourceSet 2020-11-20 16:43:44 +09:00
Randy Mackay 0f8d0ef11b AP_NavEKF3: move sources to 2nd bank of parameters 2020-11-20 16:43:44 +09:00
Randy Mackay 33b6212cce AP_NavEKF3: rename _sources to sources 2020-11-20 16:43:44 +09:00
Randy Mackay 73835f0c11 AP_NavEKF3: pre_arm_check includes sources 2020-11-20 16:43:44 +09:00
Randy Mackay 6c0bb6a198 AP_NavEKF3: add convert_params for source 2020-11-20 16:43:44 +09:00
Randy Mackay 849e94cc24 AP_NavEKF3: call sources align inactive sources 2020-11-20 16:43:44 +09:00
Randy Mackay ba9f60abc7 AP_NavEKF3: add getVelInnovationsAndVariancesForSource 2020-11-20 16:43:44 +09:00
Randy Mackay faed58a027 AP_NavEKF3: integrate Source for yaw 2020-11-20 16:43:44 +09:00
Randy Mackay 8931e50166 AP_NavEKF3: integrate Source for alt 2020-11-20 16:43:44 +09:00
Randy Mackay c21d58ebea AP_NavEKF3: integrate Source for position 2020-11-20 16:43:44 +09:00
Andrew Tridgell 4c606a30bb AP_NavEKF3: use common structure names 2020-11-17 13:45:07 +11:00
Andrew Tridgell 21dfdc2192 AP_NavEKF3: use DAL for body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell f4c3d7286c AP_NavEKF3: support replay with wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell e87f98066f AP_NavEKF3: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell 31091d6307 AP_NavEKF3: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell 096aab9388 AP_NavEKF3: 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 fc49b55b85 AP_NavEKF3: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Paul Riseborough 16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Andrew Tridgell a4716fb9bf AP_NavEKF3: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Randy Mackay eeb1a1846c AP_NavEKF3: replace prearm_healthy with pre_arm_check 2020-10-07 11:53:07 +11:00
Andrew Tridgell 2bc7d17e7a AP_NavEKF3: improved core comparison to check alignment 
this adds coreBetterScore() which takes account of tilt and yaw
alignment when comparing cores for lane switching

this ensures we don't switch to a lane that is unaligned due to the
zero error score for unaligned lanes
 2020-09-14 20:29:04 +10:00
Harshit Kumar Sankhla edc3709653 AP_NavEKF3: implement sensor affinity using EK3_AFFINITY parameter 
this allows the EKF core index to be used to select a GPS/baro/mag
instance. This is an alternative to GPS blending that allows EKF lane
switching to be used to select the right combination of GPS and IMU
add logging to XKFS message
 2020-08-27 20:20:51 +10:00
Harshit Kumar Sankhla d7edc946b6 AP_NavEKF3: Relative Error based Lane-Switching 
Improvments to the lane selection logic, we accumulate error for each
EKF lane relative to the primary for a more robust core selection
 2020-08-27 20:20:51 +10:00
Peter Barker 6b701ae3b3 AP_NavEKF3: correct includes 2020-08-07 19:20:07 +10:00
chobits 4b8be2e535 AP_NavEKF3: fix comments 2020-08-04 18:16:18 +10:00