this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.
This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
this moves intermediate variables from being per-core to being common
between cores. This saves memory on systems with more than one core by
avoiding allocating this memory on every core.
This is an alternative to #11717 which moves memory onto the stack. It
doesn't save as much memory as #11717, but avoids creating large stack
frames
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.
This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
this fixes an issue in selecting the best lane to change to when we
have 3 or more EKF cores. The bug is that if the current lane is
unhealthy it would always choose the last healthy lane instead of
choosing the lane with the lowest score
Toggling between alt sources in flight using the parameter can have unpredictable effects due to the various height offsets and the possibility that the data source may be unavailable.
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.
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.
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
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame.
Fixes a bug that allows the last reported reset time to to wind back and an out of date reset delta to be reported if a switch to a core that has previously been reset occurs.
Allows multiple consumers provided they access on the same frame
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
Revert "AP_NavEKF2: Fix bug in published yaw reset value found during code review"
commit 175faf1e41.
Revert "AP_NavEKF2: use a struct for all yaw step class variables"
commit 77fad065d1.
Partially revert "AP_NavEKF2: Handle yaw jumps due to core switches"
commit 885bfd1b4e.
The EK2_RNG_USE_HGT parameter sets the height (expressed as a percentage of the maximum range of the range finder as set by the RNGFND_MAX_CM parameter) below which the range finder will be used as the primary height source when the vehicle is moving slowly.
When using a height reference other than GPS, the height datum can drift due to air pressure changes if using baro, or due to terrain height changes if using range finder as the primary height source. To ensure that a consistent height datum is available when switching between altitude sources, the WGS-84 height estimate of the EKF's local positi norigin is updated using a
single state Bayes estimator,
If rngfinder or gps height data is lost whilst being used, there will be a fall-back to baro data.
Paul Riseborough
Andrew Tridgell
Michael du Breuil
hoangthien94
Mark Whitehorn
Tom Pittenger
Arjun Vinod
chobits
Peter Barker
Randy Mackay
chobitsfan
Paul Riseborough
bugobliterator
Dr.-Ing. Amilcar Do Carmo Lucas
Jacob Walser
Mathieu OTHACEHE
Francisco Ferreira