Paul Riseborough
39c23e11aa
AP_NavEKF3: fix wind speed covariance initialisation bug
2021-09-28 06:48:17 +09:00
Randy Mackay
3c5bd942a6
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
2021-08-14 10:44:08 +09:00
Paul Riseborough
dd9cc70ad4
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
...
Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
84693ea3c4
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
...
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-22 19:07:36 +09:00
Paul Riseborough
d841615710
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-22 19:07:36 +09:00
Andrew Tridgell
9acb16acca
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 19:07:36 +09:00
Andrew Tridgell
4f0f4608b9
AP_NavEKF3: allow for double EKF build
2021-07-22 19:07:36 +09:00
Paul Riseborough
1281033931
AP_NavEKF3: Remove unused class variable rngBcnTimeout
2021-06-23 13:26:02 +09:00
Josh Henderson
64dc3bbe41
AP_NavEKF3: Fix #17789 core's ekf origin altitude different if flying
2021-06-22 12:01:10 +10:00
Josh Henderson
0ae3730f11
AP_NavEKF3: non_GPS modes ensure EKF origin set only once and stays in sync
...
ekf3
2021-06-22 12:01:10 +10:00
Peter Barker
c00f110f3d
AP_NavEKF3: use DAL APIs for takeoff/touchdown expected
2021-06-02 11:13:16 +09:00
Paul Riseborough
b9abef37c3
AP_NavEKF3: Reset to GPS yaw if fusion times out when on ground.
2021-05-11 10:37:08 +10:00
Paul Riseborough
3634a942a1
AP_NavEKF3: Fix bug causing unwanted use of default airspeed
2021-03-05 12:10:01 +11:00
Paul Riseborough
295c1e1308
AP_NavEKF3: Reset covariances when falling back to non aiding mode
2021-03-05 12:10:01 +11:00
Paul Riseborough
ddadc45854
AP_NavEKF3: Reset states when falling back into non aiding mode.
2021-03-05 12:10:01 +11:00
Paul Riseborough
b92eca7b66
AP_NavEKF3: Select startup aiding mode after landing without yaw sensor
2021-03-05 12:10:01 +11:00
Patrick José Pereira
3b0dac3198
AP_NavEKF3: Simplify boolean expression
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-23 10:30:05 +11:00
Randy Mackay
1814524fcb
AP_NavEKF3: fix using_external_yaw when using external nav
...
the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
2021-02-09 11:35:39 +11:00
Andrew Tridgell
1ccda938cb
AP_NavEKF3: make external navigation optional
2021-01-24 11:56:52 +11:00
Andrew Tridgell
8da511f039
AP_NavEKF3: make body odomotry build depend on vehicle type
...
saves about 11k of flash
2021-01-24 11:56:52 +11:00
Randy Mackay
27c998ad94
AP_NavEKF3: rename source and yawFusionMethod from EXTERNAL to GPS
2021-01-05 10:58:06 +11:00
Randy Mackay
c14b4a8b6c
AP_NavEKF3: add support for GSF as yaw source
2021-01-05 10:58:06 +11:00
Randy Mackay
5891c6ace8
AP_NavEKF3: separate GPS yaw from ExtNav yaw
2021-01-05 10:58:06 +11:00
Randy Mackay
e819dbdd64
AP_NavEKF3: add EKFGSF_getYaw to reduce duplicate code
2020-12-15 19:29:16 +11:00
Paul Riseborough
c9ab4b18b0
AP_NavEKF3: Add multicopter wind estimation
2020-12-11 15:21:41 +11:00
Andrew Tridgell
80f7906744
AP_NavEKF3: removed inhibitGps and inhibitGpsVertVel options
...
these were unused
2020-12-01 10:33:50 +11:00
Paul Riseborough
8561f5239d
AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate
2020-11-21 12:56:10 +11:00
Randy Mackay
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
...
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
2020-11-20 16:43:44 +09:00
Randy Mackay
f88364d653
AP_NavEKF3: use_compass minor order fixup
2020-11-20 16:43:44 +09:00
Randy Mackay
b475f01b25
AP_NavEKF3: update comments
2020-11-20 16:43:44 +09:00
Randy Mackay
33b6212cce
AP_NavEKF3: rename _sources to sources
2020-11-20 16:43:44 +09:00
Randy Mackay
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
2020-11-20 16:43:44 +09:00
Randy Mackay
6c0bb6a198
AP_NavEKF3: add convert_params for source
2020-11-20 16:43:44 +09:00
Randy Mackay
4cadaa5194
AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source
2020-11-20 16:43:44 +09:00
Randy Mackay
faed58a027
AP_NavEKF3: integrate Source for yaw
2020-11-20 16:43:44 +09:00
Randy Mackay
8931e50166
AP_NavEKF3: integrate Source for alt
2020-11-20 16:43:44 +09:00
Randy Mackay
c21d58ebea
AP_NavEKF3: integrate Source for position
2020-11-20 16:43:44 +09:00
Paul Riseborough
aaf558f593
AP_NavEKF3: 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
db86a5acc8
AP_NavEKF3: Don't update yaw estimator with bad GPS
2020-11-16 16:01:13 +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
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
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
7b898ee001
AP_NavEKF3: minor comment and format fixes
2020-10-28 12:17:40 +09:00
Paul Riseborough
64a3d8fe4e
AP_NavEKF3: Update documentation
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
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
e4056086e0
AP_NavEKF3: minor format and spelling fixes
2020-10-21 13:54:22 +09:00
Randy Mackay
7398529f6b
AP_NavEKF3: minor format fix
2020-09-28 20:57:39 +09:00
Andrew Tridgell
8a4b0f858a
AP_NavEKF3: reset body mag variances at key points
...
we need to reset the body mag variances if we change sensors or if we
are starting 3D fusion. When not doing 3D fusion we zero the
variances, so they must be initialised again when we restart
fusion. This fixes a bug in handling the variances on a 2nd flight
2020-09-20 09:25:57 +10:00