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679 Commits

Author SHA1 Message Date
Paul Riseborough ac00776184 AP_NavEKF2: DAL interface compatibility change 2021-03-05 12:10:01 +11:00
murata af639f7812 AP_NavEKF2: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
Iampete1 3306484023 AP_NavEKF2: log position offset as float in meters 2021-03-02 10:03:12 +11:00
Paul Riseborough 948650dbe5 AP_NavEKF2: Fix bug preventing EKFGSF running when needed for reset 
The gpsAccuracyGood flag should not be used because it will go false if GPS innovations become high due to bad yaw which is when the EKFGSF is required. to keep running.
 2021-03-02 07:28:24 +11:00
Peter Barker d668243d1e AP_NavEKF2: move GSF logging from EKF files into GSF files 2021-02-23 12:36:33 +11:00
Patrick José Pereira 53eb2f2bf4 AP_NavEKF2: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker 445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker 401cccca19 AP_NavEKF2: correct description on NKF3.SVT 2021-01-21 21:26:17 +11:00
Peter Barker dddb285209 AP_NavEKF2: remove internal-only getTiltError method 2021-01-21 21:26:17 +11:00
Peter Barker 6b60bae068 AP_NavEKF2: remove unused getAccelNED method 2021-01-21 21:26:17 +11:00
Randy Mackay 60633f5a7f AP_NavEKF2: disable ekf2 by default 2021-01-16 08:24:23 +09:00
Andrew Tridgell 1e75bb971e AP_NavEKF2: constrain vertical error 
this prevents a floating point exception with external AHRS
 2021-01-05 21:13:12 +11:00
Andrew Tridgell b36bfe4206 AP_NavEKF2: fixed init order for scheduler 
this can impact replay of EKF2
 2021-01-02 10:30:26 +11:00
Paul Riseborough b372d62f35 AP_NavEKF2: Add accessor function for body frame airspeed vector 2020-12-11 15:21:41 +11:00
Andrew Tridgell 5e72907730 AP_NavEKF2: only fuse airspeed if healthy 2020-12-11 09:59:49 +11:00
Peter Barker f6d3983e1b AP_NavEKF2: move EKF2 message ids into AP_NavEKF2 2020-12-08 11:30:10 +11:00
Peter Barker 00ac8391c0 AP_NavEKF2: move EKF2 logging structures into EKF2 LogStructure.h 2020-12-08 11:30:10 +11:00
Peter Barker c5c810b724 AP_NavEKF2: use structures for logging GSF data 
This makes it look like EKF2 and is marginally more efficient.
 2020-12-02 10:30:48 +11:00
Peter Barker f94f51d9d3 AP_NavEKF2: move log message metadata to be above the structure 
This is the pattern we are adopting elsewhere to try to keep things
related as much as possible.
 2020-12-02 10:30:48 +11:00
Peter Barker d600b87454 AP_NavEKF2: make logging a core concern 2020-12-01 13:06:04 +11:00
Peter Barker fc7e7dcee4 AP_NavEKF2: remove unused variables 2020-12-01 10:40:09 +11:00
Peter Barker addd57dcab AP_NavEKF2: move badMagYaw onto stack 2020-12-01 10:40:09 +11:00
Peter Barker 0aa10d8281 AP_NavEKF2: move tasHealth to be a stack variable 2020-12-01 10:40:09 +11:00
Peter Barker 3a98d51427 AP_NavEKF2: move posvel fusion health booleans to be on the stack 2020-12-01 10:40:09 +11:00
Peter Barker 400ba7a9df AP_NavEKF2: move global state to be on the stack 2020-12-01 10:40:09 +11:00
Andrew Tridgell 7313e9eb0f AP_NavEKF2: removed inhibitGps and inhibitGpsVertVel options 
these were unused
 2020-12-01 10:33:50 +11:00
Andrew Tridgell 79148498d3 AP_NavEKF2: don't reset EKx_GPS_TYPE when GPS has no vertical velocity 
setting the parameter to 1 causes the following issues:

 - the GPS may not have vertical velocity at the time the parameter
   set happens, but may get it later when the GPS is fully configured

 - we may switch between GPS modules which do/don't have vertical
   velocity

 - the user may download parameters after the set(1), and end up with
   incorrect parameters they may later load onto the vehicle,
   permanently disabling use of vertical velocity
 2020-12-01 10:33:50 +11:00
Randy Mackay 4087d7b792 AP_NavEKF2: add configuredToUseGPSForPosXY 2020-11-25 21:00:07 +11:00
Andrew Tridgell 39ba8a8c83 AP_NavEKF2: convert to using common buffer classes 
this saves a considerable amount of flash
 2020-11-20 21:56:32 +11:00
Andrew Tridgell 3a4095fc7f AP_NavEKF2: use common structure names 2020-11-17 13:45:07 +11:00
Paul Riseborough 248ef92ed7 AP_NavEKF2: Add velocity innovation check to use of EKF-GSF yaw 
Only apply to non fly forward vehicle, eg copters, because magnitude of velocity innovation produced by plane launches is TBD.
 2020-11-16 16:01:13 +11:00
Paul Riseborough e5e8d0ba3c AP_NavEKF2: Don't update yaw estimator with bad GPS 2020-11-16 16:01:13 +11:00
Andrew Tridgell a2f4b16cdc AP_NavEKF2: fixed logged core for GSF messages 2020-11-16 10:28:43 +11:00
Andrew Tridgell 01cd678244 AP_NavEKF2: fixed memory corruption on push before init 
this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
 2020-11-15 15:42:48 +11:00
Andrew Tridgell 7099bb6096 AP_NavEKF2: fixed gcc 9.3 build error 
gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
 2020-11-13 14:30:11 +11:00
Andrew Tridgell 5b41d5541f AP_NavEKF2: removed use of another lanes gyro in optflow takeoff detection 
as discussed with Paul
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 7d7031d3d7 AP_NavEKF2: added const (review request) 2020-11-10 16:15:45 +11:00
Andrew Tridgell 16f7e51ea5 AP_NavEKF2: fixed use of pointers in ringbuffers 
these don't work with AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 246a441883 AP_NavEKF2: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell 5f0e943f0f AP_NavEKF2: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 8591b31665 AP_NavEKF2: cleanup unused code 2020-11-10 16:15:45 +11:00
Andrew Tridgell bec095d661 AP_NavEKF2: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell 224792b8b8 AP_NavEKF2: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell 90a8c5cb1a AP_NavEKF2: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 6be3d19e82 AP_NavEKF2: 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 84c92b717f AP_NavEKF2: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Randy Mackay fccc1fcb72 AP_NavEKF2: minor comment fix 2020-10-28 12:17:22 +09:00
Andrew Tridgell dc32f7a12f AP_NavEKF2: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Peter Barker 0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00