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573 Commits

Author SHA1 Message Date
Peter Barker 156a220d5b AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 16:01:00 +10:00
Andrew Tridgell 9f03f5a9a9 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 16:01:00 +10:00
Andrew Tridgell 4408eecb18 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 16:01:00 +10:00
Andrew Tridgell cc03255245 AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell 8c9663e47c AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 16:01:00 +10:00
Andrew Tridgell c05e93e51e AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 16:01:00 +10:00
Andrew Tridgell edb11d4d71 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell 823ed4c309 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 16:01:00 +10:00
Andrew Tridgell b6fb7383e7 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell a6c5b65f4a AP_NavEKF3: allow for double EKF build 2021-07-22 16:01:00 +10:00
Paul Riseborough 28a55e8478 AP_NavEKF3: Remove unused class variable rngBcnTimeout 2021-07-04 08:19:10 +10:00
Paul Riseborough 18e949d035 AP_NavEKF3: Ensure postion timeout flag and timer is always reset 2021-07-04 08:19:10 +10:00
Paul Riseborough 43e84c4061 AP_NavEKF3: Fade each vert vel variance clip count over 1 second 2021-07-04 08:19:10 +10:00
Paul Riseborough 7bd944ef3e AP_NavEKF3: Clean up initialisation of boolean array 2021-07-04 08:19:10 +10:00
Paul Riseborough 4b88b2ccec AP_NavEKF3: Remove unwanted line 2021-07-04 08:19:10 +10:00
Paul Riseborough 2565f3917c AP_NavEKF3: Protect against collapse of velocity and position variances 2021-07-04 08:19:10 +10:00
Paul Riseborough e5c34172c1 AP_NavEKF3: Fix bug preventing horizontal position reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough 2161e59369 AP_NavEKF3: Fix bug preventing height reset if badIMUdata 2021-07-04 08:19:10 +10:00
Paul Riseborough 5a793e77c2 AP_NavEKF3: Fix bug preventing velocity reset if badIMUdata 2021-07-04 08:19:10 +10:00
Josh Henderson c881fac1de AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying 2021-07-04 08:19:10 +10:00
Josh Henderson b85afc0adc AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync 
ekf3
 2021-07-04 08:19:10 +10:00
Peter Barker d6348a0786 AP_NavEKF3: remove getBodyFrameOdomDebug 
Not used after we moved logging to be within AP_NavEKF3
 2021-06-07 09:28:52 +10:00
Peter Barker dd3ab29b2f AP_NavEKF3: remove getFilterGpsStatus 
Not needed after we moved logging into NavEKF3
 2021-06-07 09:25:53 +10:00
Siddharth Purohit cd5b764fd8 AP_NavEKF3: use first usable compass index to set magSelectIndex 2021-06-02 17:10:19 +10:00
Paul Riseborough a5a25411da AP_NavEKF3: Remove unnecessary baro limiting 2021-06-02 11:13:16 +09:00
Paul Riseborough 124f016e5b AP_NavEKF3: Use parameter to set baro ground effect dead-zone 2021-06-02 11:13:16 +09:00
Paul Riseborough 76d0dcc25c AP_NavEKF3: Use common method for handling baro ground effect 2021-06-02 11:13:16 +09:00
Andrew Tridgell dc9435a88d AP_NavEKF3: don't limit baro change when we are in fixed wing mode 2021-06-02 11:13:16 +09:00
Peter Barker c00f110f3d AP_NavEKF3: use DAL APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Peter Barker 15658362b5 AP_NavEKF3: make time-horizon OF data a local variable 
Saves 40 bytes of RAM per core on stm32
 2021-06-01 09:56:19 +10:00
Randy Mackay 02f6ca51bc AP_NavEKF3: init rngOnGnd to 5cm to avoid div-by-zero 2021-05-28 08:08:08 +09:00
Paul Riseborough 9014afc9d4 AP_NavEKF3: Fix typo in comment 2021-05-11 10:37:08 +10:00
Paul Riseborough b9abef37c3 AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground. 2021-05-11 10:37:08 +10:00
Peter Barker f4591faeed AP_NavEKF3: simplify taking of GPS measurements 2021-03-23 15:11:33 +11:00
Paul Riseborough 1018801522 AP_NavEKF3: White space and comment fixes 2021-03-23 10:05:59 +11:00
Paul Riseborough 7113387d27 AP_NavEKF3: Use better defined data type 2021-03-23 10:05:59 +11:00
Paul Riseborough ac87cab6bc AP_NavEKF3: constify array index variable 2021-03-23 10:05:59 +11:00
Paul Riseborough 1498b516a3 AP_NavEKF3: Don't try to learn gyro biases that are poorly observable 2021-03-23 10:05:59 +11:00
Paul Riseborough 44be7161c0 AP_NavEKF3: Reduce yaw drift when operating without external aiding 
Also fixes bug in the determination of the total angular variance threshold for when to fuse a zero innovation yaw measurement.
 2021-03-23 10:05:59 +11:00
Paul Riseborough 53c4b163ce AP_NavEKF3: Allow adjustment of on ground not moving test sensitivity 
Also re-tune default sensitivity based on user supplied logs with noisy gyro data.
 2021-03-23 10:05:59 +11:00
Paul Riseborough e7b08c1ffc AP_NavEKF3: Update log message format description 2021-03-23 10:05:59 +11:00
Paul Riseborough 918606e71d AP_NavEKF3: Don't use fake measurements to learn dvel bias 2021-03-23 10:05:59 +11:00
Paul Riseborough c709ad9c80 AP_NavEKF3: Add missing axis specific dvel bias update inhibit 2021-03-23 10:05:59 +11:00
Paul Riseborough 073e273732 AP_NavEKF3: Don't allow yaw alignment until tilt alignment completed 2021-03-23 10:05:59 +11:00
Paul Riseborough a07427fd30 AP_NavEKF3: Don't learn poorly observed IMU dvel bias states before flight 2021-03-23 10:05:59 +11:00
priseborough 4b1c334bba AP_NavEKF3: improve stability of co-variance matrix processing 
This patch prevents the delta velocity bias state variances collapsing due to insufficient process noise and causing bad bias estimates to form.
 2021-03-23 10:05:59 +11:00
murata c5b1c832ba AP_NavEKF3: Change misnomer (NFC) 2021-03-15 18:21:15 +11:00
Peter Barker 4605870788 AP_NavEKF3: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Paul Riseborough e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Paul Riseborough 4675aea0bf AP_NavEKF3: Update parameter description 2021-03-05 12:10:01 +11:00