e00811375b
AP_NavEKF3: Fix possible compass nullptr dereference
2017-08-02 12:49:14 +10:00
3772fd68da
AP_NavEKF3: Fix bug in wheel odometry timestamp correction
2017-08-02 12:49:09 +10:00
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
cbe8f97489
AP_NavEKF3: rename struct used for velocity odometry observations
...
Do this so we can add other odometry observation types.
2017-07-27 16:52:26 +09:00
08a3f55c90
AP_NavEKF3: Fix error in scaling of observation error
2017-07-27 16:52:25 +09:00
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
58d58b4eac
AP_NavEKF3: Initialise EKF origin height to field elevation
...
Enables copters to set bit position 2 in the EK3_OGN_HGT_MASK parameter without having a large jump in reported local position height.
2017-07-17 02:22:02 +01:00
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
93e09c51d3
AP_NavEKF3: eliminate GCS_MAVLINK::send_statustext_all
2017-07-11 23:53:53 +01:00
d64b2fcbf0
AP_NavEKF3: final mag reset at 2.5m
2017-07-08 08:39:43 +09:00
9d0fa09d39
AP_NavEKF3: Fix calculation of predicted LOS rate in terrain estimator
2017-06-26 14:58:06 +01:00
a4d18696a7
AP_NavEKF3: Improve variable names and documentation
...
Also remove unnecessary calculation of innov * gain
2017-06-23 00:43:58 +01:00
368983ed5a
AP_NavEKF3: Clean up aiding mode logic using switch statements
2017-06-23 00:43:58 +01:00
2a9eceaf10
AP_NavEKF3: Fix bugs causing height drift when using range beacons
2017-06-23 00:43:58 +01:00
7659e9c31f
AP_NavEKF3: Improve checking of time delay validity when setting buffers
...
This change means that provided the GPS_DELAY_MS parameters are set for each GPS receiver attached, the EKF will not have to wait for the configuration of each receiver to be determined before it can start.
This significantly reduces start-up times when the delay parameters are set.
2017-06-21 11:44:45 +01:00
7d63286088
AP_NavEKF3: update to match AP_GPS interface change
2017-06-21 11:44:45 +01:00
06d40a7901
AP_NavEKF3: Fix terrain estimator innovation consistency check
2017-06-20 02:08:56 +01:00
284fc0f3c5
AP_NavEKF3: Fix bug in flow fusion for terrain estimation
...
Also remove unused class variables
2017-06-20 02:08:56 +01:00
a1508b58c1
AP_NavEKF3: use AHRS likely flying state
...
this sets inFlight when AHRS has indicated flying for 5s
2017-06-20 09:44:44 +10:00
edee8396ba
AP_NavEKF3: Improve in-flight check for non fly forward vehicles
...
This will enable the EK3_MAG_TYPE 0 option to be used for multirotors
2017-06-19 06:09:07 +10:00
6a01c65197
AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC)
2017-06-16 12:05:20 +01:00
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
6d14cf0ab8
AP_NavEKF3: Ensure reported local height = global height - origin height
2017-06-14 12:44:41 +01:00
3ae7998f51
AP_NavEKF3: Allow reporting of origin height for specified instance
2017-06-14 12:44:41 +01:00
e58ba8044d
AP_NavEKF3: Improve protection for badly conditioned dVel bias covariances
...
If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
2017-06-14 12:44:41 +01:00
bf963f8b65
AP_NavEKF3: Raise lower limit on del vel bias state variances
...
This is required to prevent co-variance matrix errors due to long periods without movement causing height divergence.
2017-06-14 12:44:41 +01:00
628d140319
AP_NavEKF3: Make target covariance time step larger
...
The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
2017-06-14 12:44:41 +01:00
2b97d0f5c9
AP_NavEKF3: Add public accessor for state variances
2017-06-14 12:44:41 +01:00
9f97cbfc3b
AP_NavEKF3: Revert auto-code to original form and remove micro optimisations
...
To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.
Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
2017-06-14 12:44:41 +01:00
f38fccd57c
AP_NavEKF3: Prevent possible race condition re-zeroing state variances
2017-06-14 12:44:41 +01:00
7adaea6019
AP_NavEKF3: Improve partitioning and efficiency of the covariance prediction
...
This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
2017-06-14 12:44:41 +01:00
a1c117360c
AP_NavEKF3: Ensure Kalman gain calculatons respect deactivated states
...
All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
2017-06-14 12:44:41 +01:00
5058405f8c
AP_NavEKF3: add gyro bias state inhibit and rework index limit calculation
...
Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
2017-06-14 12:44:41 +01:00
0cba133a1e
AP_NavEKF3: Fix initialisation of state inhibit flags
2017-06-14 12:44:41 +01:00
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
c1eb9fb9c3
AP_NavEKF3: Spell in comments
2017-05-18 09:29:55 +09:00
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
9cb068d3f4
AP_NavEKF3: Spell in coments
2017-05-16 20:29:16 +09:00
46cba2c970
libraries: Delete the setting value for specific editor.
2017-05-11 13:18:41 -07:00
23b7f1e645
AP_NavEKF3: Improve comments, typos
2017-05-03 08:45:01 +09:00
4a898037e9
AP_NavEKF3: documentation update
2017-05-01 14:24:55 +10:00
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
0bf50fd56f
AP_NavEKF3: Add monitoring of average EKF time step
2017-04-29 11:03:44 +10:00
3ce81967ae
AP_NavEKF3: Improve calculation and use of average EKF time step
2017-04-29 11:03:44 +10:00
7abf9997e6
AP_NavEKF3: Correctly initialise dtIMUavg time step and apply LPF
2017-04-29 11:03:44 +10:00
1301b9797a
AP_NavEKF3: Fix solution validity reporting bug
...
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
2017-04-28 17:19:23 +01:00
adb281cd4e
AP_NavEKF3: added timing statistics logging
2017-04-28 17:19:39 +10:00
f208986d43
AP_NavEKF3: Reset covariance if bad mag fusion update
2017-04-27 20:14:21 +10:00
18b66f9eed
AP_NavEKF3: fixed reset of coviariance matrix
2017-04-27 18:33:25 +10:00
b255c7b370
AP_NavEKF: add setOrigin
2017-04-22 10:37:31 +09:00
Michael du Breuil
priseborough
Peter Barker
Randy Mackay
Andrew Tridgell
Dr.-Ing. Amilcar Do Carmo Lucas
murata