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44,672 Commits 71 Branches 510 Tags 757 MiB
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404 Commits

Author SHA1 Message Date
Andrew Tridgell
0bc77a3baf AP_NavEKF3: fixed whitespace 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6ee1b23d28 AP_NavEKF3: removed use of another lanes gyro in optflow takeoff detection 
as discussed with Paul
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6fe05a9ab6 AP_NavEKF3: restore XKTV message 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f5275fd0ad AP_NavEKF3: fixed use of pointers in ringbuffers 
these don't work with AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
eaa8474563 AP_NavEKF3: cope with INS_MAX_INSTANCES below 3 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b81c5a1e0 AP_NavEKF3: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1bdf6173ec AP_NavEKF3: removed have_ekf_logging 2020-11-10 16:15:45 +11:00
Andrew Tridgell
21dfdc2192 AP_NavEKF3: use DAL for body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
a0de6c620f AP_NavEKF3: use selected GPS for gps_yaw_deg() 
more than one GPS could provide yaw
 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
7bbbbd314c AP_NavEKF3: added optflow support for AP_DAL 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
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
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
Randy Mackay
2681d3afe2 AP_NavEKF3: simplify alignYawAngle 2020-11-03 11:00:01 +11:00
Peter Barker
fc49b55b85 AP_NavEKF3: make coreBetterScore const 2020-11-03 10:39:35 +11:00
Randy Mackay
b726630ef4 AP_NavEKF3: pos timeout or glitch does not reset vel if fusing successfully 
vel is not reset if GPS velocity, optical flow, visual odometry or wheel
encoders are successfully being fused
 2020-10-28 19:06:53 +11:00
Randy Mackay
3b38aa6d7b AP_NavEKF3: GPS change pos reset uses ResetPositonNE and ResetPositionD 
Using these existing functions removes some code duplicate
non-functional change
 2020-10-28 19:03:34 +11:00
Randy Mackay
7b898ee001 AP_NavEKF3: minor comment and format fixes 2020-10-28 12:17:40 +09:00
Paul Riseborough
f2af2b3458 AP_NavEKF3: Initialise tiltErrorVariance class variable 2020-10-26 11:03:50 +11:00
Paul Riseborough
43386a8eea AP_NAvEKF3: Use a const reference 2020-10-26 11:03:50 +11:00
Paul Riseborough
64a3d8fe4e AP_NavEKF3: Update documentation 2020-10-26 11:03:50 +11:00
Paul Riseborough
6c7820dd8d AP_NavEKF3: Add verification of tiltErrorVariance() method in SITL 2020-10-26 11:03:50 +11:00
Paul Riseborough
90e928c32a AP_NavEKF3: Re-tune tilt alignment check 
New tilt error variance estimate is more accurate and larger than before.
 2020-10-26 11:03:50 +11:00
Paul Riseborough
16ae75a681 AP_NavEKF3: Consolidate and log tilt error variance calculation 2020-10-26 11:03:50 +11:00
Paul Riseborough
8a88dd23a2 AP_NavEKF3: Add missing generated code file for yaw fusion 2020-10-26 11:03:50 +11:00
Paul Riseborough
69632336e1 AP_NavEKF3: Remove singularity in yaw fusion at +-90deg yaw 
Uses sympy derivation
 2020-10-26 11:03:50 +11:00
Paul Riseborough
4e41e9f5f1 AP_NavEKF3: Ensure consistent use of 312 or 321 rotation order 
Prevents possibility of a differnt sequence being used to calculate the yaw and application of the yaw to the quaternions
 2020-10-26 11:03:50 +11:00
Paul Riseborough
fa10d114e4 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
 2020-10-26 11:03:50 +11:00
Paul Riseborough
73d5ca5ad3 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
 2020-10-26 11:03:50 +11:00
Paul Riseborough
a97d030e4b AP_NavEKF3: Reset earth field variances when starting mag field estimation 2020-10-26 11:03:50 +11:00
Paul Riseborough
9168d0cd19 AP_NavEKF3: Initialise mag field variances to non zero values 2020-10-26 11:03:50 +11:00
Paul Riseborough
0b96f046c2 AP_NavEKF3: Unblock initial yaw alignment message 2020-10-26 11:03:50 +11:00
Paul Riseborough
f81abd73d6 AP_NavEKF3: Update covariance prediction to yse SymPy generated equations 
Saves flash and variable space.
 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
Andrew Tridgell
fcccdcc936 AP_NavEKF3: fixed bug in external yaw for fixed wing 
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source

this fixes an EKF3 error loop on the ground found by Michael
 2020-10-24 13:50:33 +11:00
Randy Mackay
c3fd82b6d7 AP_NavEKF3: minor spelling fix 2020-10-24 12:35:58 +11:00
Randy Mackay
2f1ae29a9c AP_NavEKF3: extnav data gets corrected boolean 
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
 2020-10-24 12:35:58 +11:00
Randy Mackay
a16de76f57 AP_NavEKF3: correct extnav position as it is recalled from the buffer 
This makes extnav position correction consistent with the velocity correction
 2020-10-24 12:35:58 +11:00
Randy Mackay
71487e9c10 AP_NavEKF3: gps_elements gets corrected flag 
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
 2020-10-24 08:49:33 +09:00
Randy Mackay
3d4e1cd5c5 AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel 2020-10-24 08:49:33 +09:00
Randy Mackay
e25579cc00 AP_NavEKF3: correct GPS for position as it is recalled from buffer 2020-10-24 08:49:33 +09:00
Peter Barker
0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker
a1e7c91f8e AP_NaveEKF3: reduce code duplication in setup_core 
Less code.

Saves 40 bytes on PixRacer
 2020-10-22 08:47:08 +11:00
Randy Mackay
e4056086e0 AP_NavEKF3: minor format and spelling fixes 2020-10-21 13:54:22 +09:00
Randy Mackay
231a958e51 AP_NavEKF3: minor comment fix 2020-10-21 11:40:35 +09:00
Randy Mackay
e4ccd21dd7 AP_NavEKF3: consolidate extNav height source timeouts 2020-10-20 17:11:26 +09:00
Randy Mackay
6989a28bfc AP_NavEKF3: allow alt from other sources when using ExtNav 
also allows using ExtNav alt when not using it for XY position
removes redundant and incorrect setting of activeHgtSource from ExtNav
which was always being overwritten by the correct value later in selectHeightForFusion
 2020-10-20 17:11:26 +09:00
Randy Mackay
0cebde0632 AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set 
this non-functional change slightly reduces the number of places we set these variables
 2020-10-20 17:11:26 +09:00