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27,178 Commits 71 Branches 510 Tags 771 MiB
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Commit Graph

54 Commits

Author SHA1 Message Date
priseborough
f208986d43 AP_NavEKF3: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
Andrew Tridgell
18b66f9eed AP_NavEKF3: fixed reset of coviariance matrix 2017-04-27 18:33:25 +10:00
Randy Mackay
b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
priseborough
fb7104f4e3 AP_NavEKF3: add fusion method for body frame odometry data 2017-04-19 11:04:40 +09:00
Andrew Tridgell
248773a7c8 AP_NavEKF3: allow access to quaternion for each instance 2017-04-16 14:01:36 +10:00
priseborough
8250fe4943 AP_NavEKF3: fix documentation derivation references 2017-04-10 15:47:35 +09:00
priseborough
06c073e448 AP_NavEKF3: Update tilt alignment check 2017-04-05 20:16:16 +10:00
Jonathan Challinger
c7a73e84d6 AP_NavEKF3: apply height innovation floor only when barometer is in use 2017-03-24 14:42:36 -07:00
priseborough
56a9e2c462 AP_NavEKF3: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough
18927395d7 AP_NavEKF3: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough
01551a4423 AP_NavEKF3: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
Randy Mackay
3e039a6ba4 AP_NavEKF3: minor formatting fixes 
No functional change
 2017-03-06 18:40:18 +11:00
Randy Mackay
a80c0a231d AP_NavEKF3: attempt to set-up every core 
previously we would only call setup_core for the 2nd core if the first had been setup successfully
 2017-03-06 18:40:18 +11:00
priseborough
7a8783f35e AP_NavEKF3: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
Randy Mackay
3f6a734a71 AP_NavEKF3: only use downward facing rangefinder 2017-02-27 15:18:11 +09:00
Michael du Breuil
1de198883d AP_NavEKF3: Check gps vertical accuracy for aligning the GPS 2017-02-22 11:53:42 -08:00
Jacob Walser
ac1e1b9460 AP_NavEKF3: Add set_baro_alt_noise method 2017-02-21 11:26:14 +11:00
Francisco Ferreira
23f959b92f
AP_NavEKF3: fix copied parameter descriptions 2017-02-15 19:20:04 +00:00
priseborough
de7a679534 AP_NavEKF3: Enable simple heading fusion to be set for specific cores 2017-02-15 19:09:45 +00:00
priseborough
ccb952ba31 AP_NavEKF3: Use the same mag fusion method for all cores 
The original reason for using a different method for the second core is no longer valid.
 2017-02-15 19:01:10 +00:00
priseborough
e399f57ffa AP_NavEKF3: prevent NaN if RNGFND_GNDCLEAR is zero 2017-02-15 07:04:38 +09:00
priseborough
784fa6fed8 AP_NavEKF3: fix compiler error 2017-01-27 16:57:42 +09:00
priseborough
2c36da2b21 AP_NavEKF3: relocate perf monitor to count all three mag components 2017-01-27 16:57:42 +09:00
priseborough
4d958952f6 AP_NavEKF3: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
priseborough
b5ba1d0346 AP_NavEKF3: protect against large delay values returned by the GPS library 2017-01-27 16:57:42 +09:00
priseborough
4540faf6af AP_NavEKF3: Improve waiting for GPS configuration 
Do not time out and provide an escalating series of messages. We may need to adjust the time thresholds used for escalation.
Do not wait if the EKF is not using the GPS.
 2017-01-27 16:57:42 +09:00
priseborough
52e8f687d9 AP_NavEKF3: fix logic bug introduced by magnetometer use changes 2017-01-27 16:57:42 +09:00
priseborough
a133d55b6d AP_NavEKF3: Allow copters to fly with magnetometers disabled 
Copter operation without a magnetometer is limited to constant position and relative position modes only (no GPS or range beacon fusion permitted)
Copter optical flow operation without a magnetometer is permitted.
The ability of planes to takeoff/launch without a magnetometer and align the yaw using the GPS velocity is retained.
 2017-01-27 16:57:42 +09:00
priseborough
2e5ac40ef6 AP_NavEKF3: remove unnecessary stdio includes 2017-01-27 16:57:42 +09:00
priseborough
8688d1ddac AP_NavEKF3: Improve range finder selection logic 
Fixes bug that could leave it locked out of range finder use.
 2017-01-27 16:57:42 +09:00
priseborough
7e8f3fca53 AP_NavEKF3: Address review comments 
Removes a leftover debug printf statement.
Fixes documentation errors.
Replace remaining fmaxf function calls with Ardupilot MAX function
 2017-01-27 16:57:42 +09:00
priseborough
b723966b8d AP_NavEKF2: Add protection against bad GPS time delay values 
Prevent bad values for GPS time delay pushing the GPS time stamp outside the range of IMU data contained in the buffer. If this occurs it can prevent the GPS measurements from being fused and cause loss of navigation.
 2017-01-27 16:57:42 +09:00
priseborough
59ee074560 AP_NavEKF3: Remove EKF2 names 2017-01-27 16:57:42 +09:00
priseborough
b862f0d7ad AP_NavEKF3: Enable use of GPS delay value from returned by the driver 
Use the time delay returned by the GPS driver.
Wait long enough for the GPS configuration to be determined, but time out after 30 seconds and warn the user that a default value for time delay will be used.
 2017-01-27 16:57:42 +09:00
priseborough
69a47d7522 AP_NavEKF3: Improve reporting of buffer allocation 2017-01-27 16:57:42 +09:00
priseborough
ceb42225fd AP_NavEKF3: Ensure enough time to fill buffers when starting filter 2017-01-27 16:57:42 +09:00
priseborough
a8fd1d8bcd AP_NavEKF3: fix potential time-stamping bug 
Use a consistent time reference
 2017-01-27 16:57:42 +09:00
priseborough
8d1733cee6 AP_NavEKF3: Use FIR filtered airspeed 
Switch to use of an airspeed reading averaged across the raw sensor readings. since the last update.
This avoids use of the IIR which requires a larger time delay compensation and violates the assumption of uncorrelated noise.
The time delay parameter has been reduced to compensate for the removal of the airspeed IIR filtering.
 2017-01-27 16:57:42 +09:00
priseborough
9261c34097 AP_NavEKF3: Update default GPS delay 
This value is a compromise between what works best for a Ublox 6 which is around 200msec delay and the more recent 7 and 8 series receivers that are around 120msec delay.
 2017-01-27 16:57:42 +09:00
priseborough
ed5039823f AP_NavEKF3: Adapt sensor buffer lengths 
Adapt the lengths of the IMU and observations buffers on startup to the specified time delays and update rates.
This does require the EKF to be re-started if time delays are changed.
 2017-01-27 16:57:42 +09:00
priseborough
2cc48f78a7 AP_NavEKF3: Update range beacon fusion 
Add innovation consistency check to alignment filter and publish alignment filter status data
 2017-01-27 16:57:42 +09:00
priseborough
92b8c33b19 AP_NavEKF3: publish 3-state range beacon estimator states 2017-01-27 16:57:42 +09:00
priseborough
7c53573a0c AP_NavEKF3: Allow range beacon use with intermittent GPS 2017-01-27 16:57:42 +09:00
priseborough
e5e4883c72 AP_NavEKF3: Fix GPS use inhibit interface documentation 2017-01-27 16:57:42 +09:00
priseborough
c7e1828238 AP_NavEKF3: improve variable name 2017-01-27 16:57:42 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
cae557fb4c AP_NavEKF3: Correct display names, bitmask and units 2017-01-16 19:07:26 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
195e32c2fc AP_NavEKF3: fix some parameter descriptions 2017-01-09 13:30:24 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
d408d25f92 More spelling stuff 2017-01-06 10:57:39 -08:00
priseborough
71eb46dd04 AP_NavEKF3: Fix bug in loss of aiding fallback 
Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
 2016-12-21 18:08:39 +11:00
priseborough
f1c05ee320 AP_NavEKF3: Allow accel switch on bias uncertainty to be adjusted 2016-12-19 08:07:15 +11:00